mirror of https://github.com/ArduPilot/ardupilot
163 lines
5.9 KiB
C++
163 lines
5.9 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if HAL_ENABLE_LIBUAVCAN_DRIVERS
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_UAVCAN.h"
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#include <AP_CANManager/AP_CANManager.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#include <uavcan/equipment/power/BatteryInfo.hpp>
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#define LOG_TAG "BattMon"
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extern const AP_HAL::HAL& hal;
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UC_REGISTRY_BINDER(BattInfoCb, uavcan::equipment::power::BatteryInfo);
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/// Constructor
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AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params ¶ms) :
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AP_BattMonitor_Backend(mon, mon_state, params),
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_type(type)
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{
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// starts with not healthy
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_state.healthy = false;
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}
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void AP_BattMonitor_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
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{
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if (ap_uavcan == nullptr) {
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return;
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}
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auto* node = ap_uavcan->get_node();
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uavcan::Subscriber<uavcan::equipment::power::BatteryInfo, BattInfoCb> *battinfo_listener;
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battinfo_listener = new uavcan::Subscriber<uavcan::equipment::power::BatteryInfo, BattInfoCb>(*node);
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// Backend Msg Handler
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const int battinfo_listener_res = battinfo_listener->start(BattInfoCb(ap_uavcan, &handle_battery_info_trampoline));
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if (battinfo_listener_res < 0) {
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AP_HAL::panic("UAVCAN BatteryInfo subscriber start problem\n\r");
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return;
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}
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}
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AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t battery_id)
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{
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if (ap_uavcan == nullptr) {
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return nullptr;
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}
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for (uint8_t i = 0; i < AP::battery()._num_instances; i++) {
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if (AP::battery().drivers[i] == nullptr ||
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AP::battery().get_type(i) != AP_BattMonitor::Type::UAVCAN_BatteryInfo) {
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continue;
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}
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AP_BattMonitor_UAVCAN* driver = (AP_BattMonitor_UAVCAN*)AP::battery().drivers[i];
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if (driver->_ap_uavcan == ap_uavcan && driver->_node_id == node_id && match_battery_id(i, battery_id)) {
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return driver;
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}
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}
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// find empty uavcan driver
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for (uint8_t i = 0; i < AP::battery()._num_instances; i++) {
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if (AP::battery().drivers[i] != nullptr &&
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AP::battery().get_type(i) == AP_BattMonitor::Type::UAVCAN_BatteryInfo &&
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match_battery_id(i, battery_id)) {
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AP_BattMonitor_UAVCAN* batmon = (AP_BattMonitor_UAVCAN*)AP::battery().drivers[i];
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if(batmon->_ap_uavcan != nullptr || batmon->_node_id != 0) {
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continue;
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}
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batmon->_ap_uavcan = ap_uavcan;
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batmon->_node_id = node_id;
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batmon->init();
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AP::can().log_text(AP_CANManager::LOG_INFO,
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LOG_TAG,
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"Registered BattMonitor Node %d on Bus %d\n",
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node_id,
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ap_uavcan->get_driver_index());
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return batmon;
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}
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}
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return nullptr;
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}
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void AP_BattMonitor_UAVCAN::handle_battery_info(const BattInfoCb &cb)
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{
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WITH_SEMAPHORE(_sem_battmon);
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_interim_state.voltage = cb.msg->voltage;
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_interim_state.current_amps = cb.msg->current;
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_soc = cb.msg->state_of_charge_pct;
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if (!isnanf(cb.msg->temperature) && cb.msg->temperature > 0) {
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// Temperature reported from battery in kelvin and stored internally in Celsius.
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_interim_state.temperature = cb.msg->temperature - C_TO_KELVIN;
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_interim_state.temperature_time = AP_HAL::millis();
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}
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uint32_t tnow = AP_HAL::micros();
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uint32_t dt = tnow - _interim_state.last_time_micros;
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// update total current drawn since startup
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if (_interim_state.last_time_micros != 0 && dt < 2000000) {
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// .0002778 is 1/3600 (conversion to hours)
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float mah = (float) ((double) _interim_state.current_amps * (double) dt * (double) 0.0000002778f);
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_interim_state.consumed_mah += mah;
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_interim_state.consumed_wh += 0.001f * mah * _interim_state.voltage;
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}
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// record time
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_interim_state.last_time_micros = tnow;
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_interim_state.healthy = true;
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}
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void AP_BattMonitor_UAVCAN::handle_battery_info_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoCb &cb)
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{
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AP_BattMonitor_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id, cb.msg->battery_id);
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if (driver == nullptr) {
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return;
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}
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driver->handle_battery_info(cb);
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}
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// read - read the voltage and current
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void AP_BattMonitor_UAVCAN::read()
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{
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uint32_t tnow = AP_HAL::micros();
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// timeout after 5 seconds
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if ((tnow - _interim_state.last_time_micros) > AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS) {
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_interim_state.healthy = false;
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}
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// Copy over relevant states over to main state
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WITH_SEMAPHORE(_sem_battmon);
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_state.temperature = _interim_state.temperature;
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_state.temperature_time = _interim_state.temperature_time;
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_state.voltage = _interim_state.voltage;
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_state.current_amps = _interim_state.current_amps;
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_state.consumed_mah = _interim_state.consumed_mah;
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_state.consumed_wh = _interim_state.consumed_wh;
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_state.last_time_micros = _interim_state.last_time_micros;
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_state.healthy = _interim_state.healthy;
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_has_temperature = (AP_HAL::millis() - _state.temperature_time) <= AP_BATT_MONITOR_TIMEOUT;
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}
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/// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
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bool AP_BattMonitor_UAVCAN::capacity_remaining_pct(uint8_t &percentage) const
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{
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if ((uint32_t(_params._options.get()) & uint32_t(AP_BattMonitor_Params::Options::Ignore_UAVCAN_SoC)) ||
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_soc > 100) {
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// a UAVCAN battery monitor may not be able to supply a state of charge. If it can't then
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// the user can set the option to use current integration in the backend instead.
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return AP_BattMonitor_Backend::capacity_remaining_pct(percentage);
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}
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percentage = _soc;
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return true;
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}
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#endif
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