ardupilot/libraries/AP_BattMonitor/AP_BattMonitor.h

137 lines
6.4 KiB
C++

#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
// maximum number of battery monitors
#define AP_BATT_MONITOR_MAX_INSTANCES 2
// first monitor is always the primary monitor
#define AP_BATT_PRIMARY_INSTANCE 0
#define AP_BATT_CAPACITY_DEFAULT 3300
#define AP_BATT_LOW_VOLT_TIMEOUT_MS 10000 // low voltage of 10 seconds will cause battery_exhausted to return true
#define AP_BATT_MAX_WATT_DEFAULT 0
// declare backend class
class AP_BattMonitor_Backend;
class AP_BattMonitor_Analog;
class AP_BattMonitor_SMBus;
class AP_BattMonitor_SMBus_I2C;
class AP_BattMonitor_SMBus_PX4;
class AP_BattMonitor
{
friend class AP_BattMonitor_Backend;
friend class AP_BattMonitor_Analog;
friend class AP_BattMonitor_SMBus;
friend class AP_BattMonitor_SMBus_I2C;
friend class AP_BattMonitor_SMBus_PX4;
public:
/// Constructor
AP_BattMonitor();
// Battery monitor driver types
enum BattMonitor_Type {
BattMonitor_TYPE_NONE = 0,
BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY = 3,
BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT = 4,
BattMonitor_TYPE_SMBUS = 5,
BattMonitor_TYPE_BEBOP = 6
};
// The BattMonitor_State structure is filled in by the backend driver
struct BattMonitor_State {
uint8_t instance; // the instance number of this monitor
bool healthy; // battery monitor is communicating correctly
bool is_powering_off; // true if the battery is about to power off
float voltage; // voltage in volts
float current_amps; // current in amperes
float current_total_mah; // total current draw since start-up
uint32_t last_time_micros; // time when voltage and current was last read
uint32_t low_voltage_start_ms; // time when voltage dropped below the minimum
};
// Return the number of battery monitor instances
uint8_t num_instances(void) const { return _num_instances; }
// detect and initialise any available battery monitors
void init();
/// Read the battery voltage and current for all batteries. Should be called at 10hz
void read();
#define _BattMonitor_STATE(instance) state[instance]
// healthy - returns true if monitor is functioning
bool healthy(uint8_t instance) const;
bool healthy() const { return healthy(AP_BATT_PRIMARY_INSTANCE); }
bool is_powering_off(uint8_t instance) const;
bool is_powering_off() const { return is_powering_off(AP_BATT_PRIMARY_INSTANCE); }
/// has_current - returns true if battery monitor instance provides current info
bool has_current(uint8_t instance) const;
bool has_current() const { return has_current(AP_BATT_PRIMARY_INSTANCE); }
/// voltage - returns battery voltage in millivolts
float voltage(uint8_t instance) const;
float voltage() const { return voltage(AP_BATT_PRIMARY_INSTANCE); }
/// current_amps - returns the instantaneous current draw in amperes
float current_amps(uint8_t instance) const;
float current_amps() const { return current_amps(AP_BATT_PRIMARY_INSTANCE); }
/// current_total_mah - returns total current drawn since start-up in amp-hours
float current_total_mah(uint8_t instance) const;
float current_total_mah() const { return current_total_mah(AP_BATT_PRIMARY_INSTANCE); }
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
virtual uint8_t capacity_remaining_pct(uint8_t instance) const;
uint8_t capacity_remaining_pct() const { return capacity_remaining_pct(AP_BATT_PRIMARY_INSTANCE); }
/// pack_capacity_mah - returns the capacity of the battery pack in mAh when the pack is full
int32_t pack_capacity_mah(uint8_t instance) const;
int32_t pack_capacity_mah() const { return pack_capacity_mah(AP_BATT_PRIMARY_INSTANCE); }
/// exhausted - returns true if the battery's voltage remains below the low_voltage for 10 seconds or remaining capacity falls below min_capacity
bool exhausted(uint8_t instance, float low_voltage, float min_capacity_mah);
bool exhausted(float low_voltage, float min_capacity_mah) { return exhausted(AP_BATT_PRIMARY_INSTANCE, low_voltage, min_capacity_mah); }
/// get_type - returns battery monitor type
enum BattMonitor_Type get_type() { return get_type(AP_BATT_PRIMARY_INSTANCE); }
enum BattMonitor_Type get_type(uint8_t instance) { return (enum BattMonitor_Type)_monitoring[instance].get(); }
/// set_monitoring - sets the monitor type (used for example sketch only)
void set_monitoring(uint8_t instance, uint8_t mon) { _monitoring[instance].set(mon); }
bool get_watt_max() { return get_watt_max(AP_BATT_PRIMARY_INSTANCE); }
bool get_watt_max(uint8_t instance) { return _watt_max[instance]; }
/// true when (voltage * current) > watt_max
bool overpower_detected() const;
bool overpower_detected(uint8_t instance) const;
static const struct AP_Param::GroupInfo var_info[];
protected:
/// parameters
AP_Int8 _monitoring[AP_BATT_MONITOR_MAX_INSTANCES]; /// 0=disabled, 3=voltage only, 4=voltage and current
AP_Int8 _volt_pin[AP_BATT_MONITOR_MAX_INSTANCES]; /// board pin used to measure battery voltage
AP_Int8 _curr_pin[AP_BATT_MONITOR_MAX_INSTANCES]; /// board pin used to measure battery current
AP_Float _volt_multiplier[AP_BATT_MONITOR_MAX_INSTANCES]; /// voltage on volt pin multiplied by this to calculate battery voltage
AP_Float _curr_amp_per_volt[AP_BATT_MONITOR_MAX_INSTANCES]; /// voltage on current pin multiplied by this to calculate current in amps
AP_Float _curr_amp_offset[AP_BATT_MONITOR_MAX_INSTANCES]; /// offset voltage that is subtracted from current pin before conversion to amps
AP_Int32 _pack_capacity[AP_BATT_MONITOR_MAX_INSTANCES]; /// battery pack capacity less reserve in mAh
AP_Int16 _watt_max[AP_BATT_MONITOR_MAX_INSTANCES]; /// max battery power allowed. Reduce max throttle to reduce current to satisfy this limit
private:
BattMonitor_State state[AP_BATT_MONITOR_MAX_INSTANCES];
AP_BattMonitor_Backend *drivers[AP_BATT_MONITOR_MAX_INSTANCES];
uint8_t _num_instances; /// number of monitors
};