mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
#include "AP_Periph.h"
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#ifdef HAL_PERIPH_ENABLE_BATTERY
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/*
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battery support
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*/
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#include <dronecan_msgs.h>
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extern const AP_HAL::HAL &hal;
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#ifndef AP_PERIPH_BATTERY_MODEL_NAME
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#define AP_PERIPH_BATTERY_MODEL_NAME CAN_APP_NODE_NAME
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#endif
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/*
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update CAN battery monitor
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*/
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void AP_Periph_FW::can_battery_update(void)
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{
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const uint32_t now_ms = AP_HAL::millis();
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if (now_ms - battery.last_can_send_ms < 100) {
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return;
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}
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battery.last_can_send_ms = now_ms;
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const uint8_t battery_instances = battery_lib.num_instances();
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for (uint8_t i=0; i<battery_instances; i++) {
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if (!battery_lib.healthy(i)) {
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continue;
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}
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uavcan_equipment_power_BatteryInfo pkt {};
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// if a battery serial number is assigned, use that as the ID. Else, use the index.
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const int32_t serial_number = battery_lib.get_serial_number(i);
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pkt.battery_id = (serial_number >= 0) ? serial_number : i+1;
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pkt.voltage = battery_lib.voltage(i);
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float current;
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if (battery_lib.current_amps(current, i)) {
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pkt.current = current;
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}
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float temperature;
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if (battery_lib.get_temperature(temperature, i)) {
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// Battery lib reports temperature in Celsius.
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// Convert Celsius to Kelvin for transmission on CAN.
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pkt.temperature = C_TO_KELVIN(temperature);
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}
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pkt.state_of_health_pct = UAVCAN_EQUIPMENT_POWER_BATTERYINFO_STATE_OF_HEALTH_UNKNOWN;
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uint8_t percentage = 0;
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if (battery_lib.capacity_remaining_pct(percentage, i)) {
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pkt.state_of_charge_pct = percentage;
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}
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pkt.model_instance_id = i+1;
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#if !defined(HAL_PERIPH_BATTERY_SKIP_NAME)
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// example model_name: "org.ardupilot.ap_periph SN 123"
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hal.util->snprintf((char*)pkt.model_name.data, sizeof(pkt.model_name.data), "%s %ld", AP_PERIPH_BATTERY_MODEL_NAME, (long int)serial_number);
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pkt.model_name.len = strnlen((char*)pkt.model_name.data, sizeof(pkt.model_name.data));
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#endif //defined(HAL_PERIPH_BATTERY_SKIP_NAME)
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uint8_t buffer[UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE] {};
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const uint16_t total_size = uavcan_equipment_power_BatteryInfo_encode(&pkt, buffer, !periph.canfdout());
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canard_broadcast(UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE,
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UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID,
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CANARD_TRANSFER_PRIORITY_LOW,
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&buffer[0],
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total_size);
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}
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}
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#endif // HAL_PERIPH_ENABLE_BATTERY
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