mirror of https://github.com/ArduPilot/ardupilot
119 lines
4.9 KiB
C++
119 lines
4.9 KiB
C++
#pragma once
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Backend.h"
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#if HAL_ENABLE_DRONECAN_DRIVERS
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#include <AP_DroneCAN/AP_DroneCAN.h>
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#define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
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#ifndef AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
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#define AP_BATTMONITOR_UAVCAN_MPPT_DEBUG 0
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#endif
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class AP_BattMonitor_DroneCAN : public AP_BattMonitor_Backend
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{
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public:
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enum BattMonitor_DroneCAN_Type {
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UAVCAN_BATTERY_INFO = 0
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};
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/// Constructor
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AP_BattMonitor_DroneCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_DroneCAN_Type type, AP_BattMonitor_Params ¶ms);
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static const struct AP_Param::GroupInfo var_info[];
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void init() override {}
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/// Read the battery voltage and current. Should be called at 10hz
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void read() override;
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/// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
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bool capacity_remaining_pct(uint8_t &percentage) const override;
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bool has_temperature() const override { return _has_temperature; }
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bool has_current() const override { return true; }
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// Always have consumed energy, either directly from BatteryInfoAux msg or by cumulative current draw
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bool has_consumed_energy() const override { return true; }
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bool has_time_remaining() const override { return _has_time_remaining; }
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bool has_cell_voltages() const override { return _has_cell_voltages; }
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bool get_cycle_count(uint16_t &cycles) const override;
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// return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
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uint32_t get_mavlink_fault_bitmask() const override;
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static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
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static AP_BattMonitor_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t battery_id);
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static void handle_battery_info_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_power_BatteryInfo &msg);
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static void handle_battery_info_aux_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_power_BatteryInfoAux &msg);
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static void handle_mppt_stream_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const mppt_Stream &msg);
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void mppt_set_powered_state(bool power_on) override;
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// reset remaining percentage to given value
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bool reset_remaining(float percentage) override;
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private:
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void handle_battery_info(const uavcan_equipment_power_BatteryInfo &msg);
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void handle_battery_info_aux(const ardupilot_equipment_power_BatteryInfoAux &msg);
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void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc, uint8_t soh_pct);
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static bool match_battery_id(uint8_t instance, uint8_t battery_id);
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// MPPT related enums and methods
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enum class MPPT_FaultFlags : uint8_t {
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OVER_VOLTAGE = (1U<<0),
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UNDER_VOLTAGE = (1U<<1),
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OVER_CURRENT = (1U<<2),
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OVER_TEMPERATURE = (1U<<3),
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};
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void handle_mppt_stream(const mppt_Stream &msg);
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void mppt_check_powered_state();
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#if AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
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static void mppt_report_faults(const uint8_t instance, const uint8_t fault_flags);
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static const char* mppt_fault_string(const MPPT_FaultFlags fault);
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#endif
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// Return true if the DroneCAN state of charge should be used.
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// Return false if state of charge should be calculated locally by counting mah.
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bool use_CAN_SoC() const;
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AP_BattMonitor::BattMonitor_State _interim_state;
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HAL_Semaphore _sem_battmon;
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AP_DroneCAN* _ap_dronecan;
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uint8_t _soc;
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uint8_t _node_id;
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uint16_t _cycle_count;
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float _remaining_capacity_wh;
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float _full_charge_capacity_wh;
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bool _has_temperature;
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bool _has_cell_voltages;
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bool _has_time_remaining;
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bool _has_battery_info_aux;
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uint8_t _instance; // instance of this battery monitor
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AP_Float _curr_mult; // scaling multiplier applied to current reports for adjustment
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// MPPT variables
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struct {
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bool is_detected; // true if this UAVCAN device is a Packet Digital MPPT
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bool powered_state; // true if the mppt is powered on, false if powered off
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bool vehicle_armed_last; // latest vehicle armed state. used to detect changes and power on/off MPPT board
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uint8_t fault_flags; // bits holding fault flags
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uint32_t powered_state_remote_ms; // timestamp of when request was sent, zeroed on response. Used to retry
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} _mppt;
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void handle_outputEnable_response(const CanardRxTransfer&, const mppt_OutputEnableResponse&);
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Canard::ObjCallback<AP_BattMonitor_DroneCAN, mppt_OutputEnableResponse> mppt_outputenable_res_cb{this, &AP_BattMonitor_DroneCAN::handle_outputEnable_response};
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Canard::Client<mppt_OutputEnableResponse> *mppt_outputenable_client;
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};
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#endif
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