82 lines
2.6 KiB
C++
82 lines
2.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_BattMonitor_config.h"
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#if AP_BATTERY_TORQEEDO_ENABLED
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#include "AP_BattMonitor_Torqeedo.h"
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#include <AP_HAL/AP_HAL.h>
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#define AP_BATTMON_TORQEEDO_TIMEOUT_US 5000000
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extern const AP_HAL::HAL &hal;
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void AP_BattMonitor_Torqeedo::read(void)
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{
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AP_Torqeedo *torqeedo = AP_Torqeedo::get_singleton();
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if (torqeedo == nullptr) {
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_state.healthy = false;
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return;
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}
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// get voltage, current, temp and remaining capacity percentage
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// assumes battery monitor instance matches torqeedo instance
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float volts;
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float current_amps;
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float temp_C;
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if (torqeedo->get_batt_info(_state.instance, volts, current_amps, temp_C, remaining_pct)) {
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have_info = true;
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_state.voltage = volts;
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_state.current_amps = current_amps;
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_state.temperature = temp_C;
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_state.temperature_time = AP_HAL::millis();
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// update total current draw
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const uint32_t tnow_us = AP_HAL::micros();
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const uint32_t diff_us = tnow_us - _state.last_time_micros;
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if (diff_us < AP_BATTMON_TORQEEDO_TIMEOUT_US) {
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_state.consumed_mah += _state.current_amps * diff_us * 1e-6f / 3600.0 * 1000.0;
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}
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_state.last_time_micros = tnow_us;
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_state.healthy = true;
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}
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// read battery pack capacity
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// assumes battery monitor instance matches torqeedo instance
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if (!have_capacity) {
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uint16_t batt_capacity_ah;
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if (torqeedo->get_batt_capacity_Ah(_state.instance, batt_capacity_ah)) {
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have_capacity = true;
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if (batt_capacity_ah * 1000 != _params._pack_capacity) {
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_params._pack_capacity.set_and_notify(batt_capacity_ah * 1000);
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}
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}
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}
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}
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// capacity_remaining_pct - returns true if the battery % is available and writes to the percentage argument
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bool AP_BattMonitor_Torqeedo::capacity_remaining_pct(uint8_t &percentage) const
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{
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if (have_info) {
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percentage = remaining_pct;
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}
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return have_info;
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}
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#endif // AP_BATTERY_TORQEEDO_ENABLED
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