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AP_BattMonitor: move log BAT & BCL into AP_BattMonitor

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This commit is contained in:
Josh Henderson 2021-01-06 19:51:50 -05:00 committed by Peter Barker
parent dfa8e55622
commit e91953fa3b
4 changed files with 130 additions and 11 deletions
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28
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -285,25 +285,31 @@ void AP_BattMonitor::convert_params(void) {
_params[0]._type.save(true);
}
// read - read the voltage and current for all instances
void
AP_BattMonitor::read()
// read - For all active instances read voltage & current; log BAT, BCL, POWR
void AP_BattMonitor::read()
{
#ifndef HAL_BUILD_AP_PERIPH
AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr && logger->should_log(_log_battery_bit)) {
logger->Write_Power();
}
#endif
for (uint8_t i=0; i<_num_instances; i++) {
if (drivers[i] != nullptr && get_type(i) != Type::NONE) {
drivers[i]->read();
drivers[i]->update_resistance_estimate();
#ifndef HAL_BUILD_AP_PERIPH
if (logger != nullptr && logger->should_log(_log_battery_bit)) {
const uint64_t time_us = AP_HAL::micros64();
drivers[i]->Log_Write_BAT(i, time_us);
drivers[i]->Log_Write_BCL(i, time_us);
}
#endif
}
}
#ifndef HAL_BUILD_AP_PERIPH
AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr && logger->should_log(_log_battery_bit)) {
logger->Write_Current();
logger->Write_Power();
}
#endif
check_failsafes();
checkPoweringOff();

4
libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
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@ -68,6 +68,10 @@ public:
// reset remaining percentage to given value
virtual bool reset_remaining(float percentage);
// logging functions
void Log_Write_BAT(const uint8_t instance, const uint64_t time_us) const;
void Log_Write_BCL(const uint8_t instance, const uint64_t time_us) const;
protected:
AP_BattMonitor &_mon; // reference to front-end
AP_BattMonitor::BattMonitor_State &_state; // reference to this instances state (held in the front-end)

47
libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp Normal file
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@ -0,0 +1,47 @@
#include "AP_BattMonitor_Backend.h"
#include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal;
// Write BAT data packet(s)
void AP_BattMonitor_Backend::Log_Write_BAT(const uint8_t instance, const uint64_t time_us) const
{
bool has_curr = has_current();
const struct log_BAT pkt{
LOG_PACKET_HEADER_INIT(LOG_BAT_MSG),
time_us : time_us,
instance : instance,
voltage : _state.voltage,
voltage_resting : _state.voltage_resting_estimate,
current_amps : has_curr ? _state.current_amps : AP::logger().quiet_nanf(),
current_total : has_curr ? _state.consumed_mah : AP::logger().quiet_nanf(),
consumed_wh : has_curr ? _state.consumed_wh : AP::logger().quiet_nanf(),
temperature : (int16_t) ( has_temperature() ? _state.temperature * 100 : 0),
resistance : _state.resistance
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
// Write BCL data packet if has_cell_voltages
void AP_BattMonitor_Backend::Log_Write_BCL(const uint8_t instance, const uint64_t time_us) const
{
if (!has_cell_voltages()) {
return;
}
struct log_BCL cell_pkt{
LOG_PACKET_HEADER_INIT(LOG_BCL_MSG),
time_us : time_us,
instance : instance,
voltage : _state.voltage
};
for (uint8_t i = 0; i < ARRAY_SIZE(_state.cell_voltages.cells); i++) {
cell_pkt.cell_voltages[i] = _state.cell_voltages.cells[i] + 1;
}
AP::logger().WriteBlock(&cell_pkt, sizeof(cell_pkt));
// check battery structure can hold all cells
static_assert(ARRAY_SIZE(_state.cell_voltages.cells) == ARRAY_SIZE(cell_pkt.cell_voltages),
"Battery cell number doesn't match in library and log structure");
}

62
libraries/AP_BattMonitor/LogStructure.h Normal file
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@ -0,0 +1,62 @@
#pragma once
#include <AP_Logger/LogStructure.h>
#define LOG_IDS_FROM_BATTMONITOR \
LOG_BAT_MSG, \
LOG_BCL_MSG
// @LoggerMessage: BAT
// @Description: Gathered battery data
// @Field: TimeUS: Time since system startup
// @Field: Instance: battery instance number
// @Field: Volt: measured voltage
// @Field: VoltR: estimated resting voltage
// @Field: Curr: measured current
// @Field: CurrTot: current * time
// @Field: EnrgTot: energy this battery has produced
// @Field: Temp: measured temperature
// @Field: Res: estimated battery resistance
struct PACKED log_BAT {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
float voltage;
float voltage_resting;
float current_amps;
float current_total;
float consumed_wh;
int16_t temperature; // degrees C * 100
float resistance;
};
// @LoggerMessage: BCL
// @Description: Battery cell voltage information
// @Field: TimeUS: Time since system startup
// @Field: Instance: battery instance number
// @Field: Volt: battery voltage
// @Field: V1: first cell voltage
// @Field: V2: second cell voltage
// @Field: V3: third cell voltage
// @Field: V4: fourth cell voltage
// @Field: V5: fifth cell voltage
// @Field: V6: sixth cell voltage
// @Field: V7: seventh cell voltage
// @Field: V8: eighth cell voltage
// @Field: V9: ninth cell voltage
// @Field: V10: tenth cell voltage
// @Field: V11: eleventh cell voltage
// @Field: V12: twelfth cell voltage
struct PACKED log_BCL {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
float voltage;
uint16_t cell_voltages[12];
};
#define LOG_STRUCTURE_FROM_BATTMONITOR \
{ LOG_BAT_MSG, sizeof(log_BAT), \
"BAT", "QBfffffcf", "TimeUS,Instance,Volt,VoltR,Curr,CurrTot,EnrgTot,Temp,Res", "s#vvAiJOw", "F-000!/?0" }, \
{ LOG_BCL_MSG, sizeof(log_BCL), \
"BCL", "QBfHHHHHHHHHHHH", "TimeUS,Instance,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10,V11,V12", "s#vvvvvvvvvvvvv", "F-0CCCCCCCCCCCC" },