ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h

115 lines
4.5 KiB
C++

#pragma once
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <mppt/OutputEnable.hpp>
#define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
#ifndef AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
#define AP_BATTMONITOR_UAVCAN_MPPT_DEBUG 0
#endif
class BattInfoCb;
class BattInfoAuxCb;
class MpptStreamCb;
class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
{
public:
enum BattMonitor_UAVCAN_Type {
UAVCAN_BATTERY_INFO = 0
};
/// Constructor
AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params);
static const struct AP_Param::GroupInfo var_info[];
void init() override {}
/// Read the battery voltage and current. Should be called at 10hz
void read() override;
/// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
bool capacity_remaining_pct(uint8_t &percentage) const override;
bool has_temperature() const override { return _has_temperature; }
bool has_current() const override { return true; }
bool has_consumed_energy() const override { return _has_consumed_energy; }
bool has_time_remaining() const override { return _has_time_remaining; }
bool has_cell_voltages() const override { return _has_cell_voltages; }
bool get_cycle_count(uint16_t &cycles) const override;
// return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
uint32_t get_mavlink_fault_bitmask() const override;
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_BattMonitor_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t battery_id);
static void handle_battery_info_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoCb &cb);
static void handle_battery_info_aux_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoAuxCb &cb);
static void handle_mppt_stream_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MpptStreamCb &cb);
void handle_outputEnable_response(const uint8_t nodeId, const bool enabled);
private:
void handle_battery_info(const BattInfoCb &cb);
void handle_battery_info_aux(const BattInfoAuxCb &cb);
void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc);
static bool match_battery_id(uint8_t instance, uint8_t battery_id) {
// when serial number is negative, all batteries are accepted. Else, it must match
return (AP::battery().get_serial_number(instance) < 0) || (AP::battery().get_serial_number(instance) == (int32_t)battery_id);
}
// MPPT related enums and methods
enum class MPPT_FaultFlags : uint8_t {
OVER_VOLTAGE = (1U<<0),
UNDER_VOLTAGE = (1U<<1),
OVER_CURRENT = (1U<<2),
OVER_TEMPERATURE = (1U<<3),
};
void handle_mppt_stream(const MpptStreamCb &cb);
void mppt_check_powered_state();
void mppt_set_powered_state(bool power_on);
#if AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
static void mppt_report_faults(const uint8_t instance, const uint8_t fault_flags);
static const char* mppt_fault_string(const MPPT_FaultFlags fault);
#endif
AP_BattMonitor::BattMonitor_State _interim_state;
BattMonitor_UAVCAN_Type _type;
HAL_Semaphore _sem_battmon;
AP_UAVCAN* _ap_uavcan;
uint8_t _soc;
uint8_t _node_id;
uint16_t _cycle_count;
float _remaining_capacity_wh;
float _full_charge_capacity_wh;
bool _has_temperature;
bool _has_cell_voltages;
bool _has_time_remaining;
bool _has_consumed_energy;
bool _has_battery_info_aux;
uint8_t _instance; // instance of this battery monitor
uavcan::Node<0> *_node; // UAVCAN node id
AP_Float _curr_mult; // scaling multiplier applied to current reports for adjustment
// MPPT variables
struct {
bool is_detected; // true if this UAVCAN device is a Packet Digital MPPT
bool powered_state; // true if the mppt is powered on, false if powered off
bool vehicle_armed_last; // latest vehicle armed state. used to detect changes and power on/off MPPT board
uint8_t fault_flags; // bits holding fault flags
uint32_t powered_state_remote_ms; // timestamp of when request was sent, zeroed on response. Used to retry
} _mppt;
};