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148 lines
6.4 KiB
148 lines
6.4 KiB
#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Math/AP_Math.h> |
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#include <GCS_MAVLink/GCS_MAVLink.h> |
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#include "AP_BattMonitor_Params.h" |
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// maximum number of battery monitors |
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#define AP_BATT_MONITOR_MAX_INSTANCES 2 |
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// first monitor is always the primary monitor |
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#define AP_BATT_PRIMARY_INSTANCE 0 |
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#define AP_BATT_SERIAL_NUMBER_DEFAULT -1 |
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#define AP_BATT_MONITOR_TIMEOUT 5000 |
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#define AP_BATT_MONITOR_RES_EST_TC_1 0.5f |
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#define AP_BATT_MONITOR_RES_EST_TC_2 0.1f |
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// declare backend class |
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class AP_BattMonitor_Backend; |
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class AP_BattMonitor_Analog; |
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class AP_BattMonitor_SMBus; |
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class AP_BattMonitor_SMBus_Solo; |
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class AP_BattMonitor_SMBus_Maxell; |
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class AP_BattMonitor |
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{ |
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friend class AP_BattMonitor_Backend; |
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friend class AP_BattMonitor_Analog; |
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friend class AP_BattMonitor_SMBus; |
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friend class AP_BattMonitor_SMBus_Solo; |
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friend class AP_BattMonitor_SMBus_Maxell; |
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public: |
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AP_BattMonitor(); |
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/* Do not allow copies */ |
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AP_BattMonitor(const AP_BattMonitor &other) = delete; |
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AP_BattMonitor &operator=(const AP_BattMonitor&) = delete; |
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struct cells { |
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uint16_t cells[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN]; |
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}; |
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// The BattMonitor_State structure is filled in by the backend driver |
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struct BattMonitor_State { |
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cells cell_voltages; // battery cell voltages in millivolts, 10 cells matches the MAVLink spec |
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float voltage; // voltage in volts |
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float current_amps; // current in amperes |
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float current_total_mah; // total current draw since start-up |
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uint32_t last_time_micros; // time when voltage and current was last read |
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uint32_t low_voltage_start_ms; // time when voltage dropped below the minimum |
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float temperature; // battery temperature in celsius |
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uint32_t temperature_time; // timestamp of the last recieved temperature message |
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float voltage_resting_estimate; // voltage with sag removed based on current and resistance estimate |
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float resistance; // resistance calculated by comparing resting voltage vs in flight voltage |
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bool healthy; // battery monitor is communicating correctly |
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}; |
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// Return the number of battery monitor instances |
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uint8_t num_instances(void) const { return _num_instances; } |
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// detect and initialise any available battery monitors |
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void init(); |
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/// Read the battery voltage and current for all batteries. Should be called at 10hz |
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void read(); |
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// healthy - returns true if monitor is functioning |
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bool healthy(uint8_t instance) const; |
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bool healthy() const { return healthy(AP_BATT_PRIMARY_INSTANCE); } |
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/// has_current - returns true if battery monitor instance provides current info |
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bool has_current(uint8_t instance) const; |
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bool has_current() const { return has_current(AP_BATT_PRIMARY_INSTANCE); } |
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/// voltage - returns battery voltage in millivolts |
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float voltage(uint8_t instance) const; |
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float voltage() const { return voltage(AP_BATT_PRIMARY_INSTANCE); } |
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/// get voltage with sag removed (based on battery current draw and resistance) |
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/// this will always be greater than or equal to the raw voltage |
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float voltage_resting_estimate(uint8_t instance) const; |
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float voltage_resting_estimate() const { return voltage_resting_estimate(AP_BATT_PRIMARY_INSTANCE); } |
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/// current_amps - returns the instantaneous current draw in amperes |
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float current_amps(uint8_t instance) const; |
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float current_amps() const { return current_amps(AP_BATT_PRIMARY_INSTANCE); } |
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/// current_total_mah - returns total current drawn since start-up in amp-hours |
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float current_total_mah(uint8_t instance) const; |
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float current_total_mah() const { return current_total_mah(AP_BATT_PRIMARY_INSTANCE); } |
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/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100) |
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virtual uint8_t capacity_remaining_pct(uint8_t instance) const; |
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uint8_t capacity_remaining_pct() const { return capacity_remaining_pct(AP_BATT_PRIMARY_INSTANCE); } |
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/// pack_capacity_mah - returns the capacity of the battery pack in mAh when the pack is full |
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int32_t pack_capacity_mah(uint8_t instance) const; |
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int32_t pack_capacity_mah() const { return pack_capacity_mah(AP_BATT_PRIMARY_INSTANCE); } |
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/// exhausted - returns true if the battery's voltage remains below the low_voltage for 10 seconds or remaining capacity falls below min_capacity |
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bool exhausted(uint8_t instance, float low_voltage, float min_capacity_mah); |
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bool exhausted(float low_voltage, float min_capacity_mah) { return exhausted(AP_BATT_PRIMARY_INSTANCE, low_voltage, min_capacity_mah); } |
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/// get_type - returns battery monitor type |
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enum AP_BattMonitor_Params::BattMonitor_Type get_type() { return get_type(AP_BATT_PRIMARY_INSTANCE); } |
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enum AP_BattMonitor_Params::BattMonitor_Type get_type(uint8_t instance) { return _params[instance].type(); } |
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/// set_monitoring - sets the monitor type (used for example sketch only) |
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void set_monitoring(uint8_t instance, uint8_t mon) { _params[instance]._type.set(mon); } |
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/// true when (voltage * current) > watt_max |
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bool overpower_detected() const; |
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bool overpower_detected(uint8_t instance) const; |
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// cell voltages |
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bool has_cell_voltages() { return has_cell_voltages(AP_BATT_PRIMARY_INSTANCE); } |
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bool has_cell_voltages(const uint8_t instance) const; |
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const cells & get_cell_voltages() const { return get_cell_voltages(AP_BATT_PRIMARY_INSTANCE); } |
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const cells & get_cell_voltages(const uint8_t instance) const; |
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// temperature |
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bool get_temperature(float &temperature) const { return get_temperature(temperature, AP_BATT_PRIMARY_INSTANCE); }; |
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bool get_temperature(float &temperature, const uint8_t instance) const; |
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// get battery resistance estimate in ohms |
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float get_resistance() const { return get_resistance(AP_BATT_PRIMARY_INSTANCE); } |
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float get_resistance(uint8_t instance) const { return state[instance].resistance; } |
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static const struct AP_Param::GroupInfo var_info[]; |
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protected: |
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/// parameters |
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AP_BattMonitor_Params _params[AP_BATT_MONITOR_MAX_INSTANCES]; |
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private: |
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BattMonitor_State state[AP_BATT_MONITOR_MAX_INSTANCES]; |
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AP_BattMonitor_Backend *drivers[AP_BATT_MONITOR_MAX_INSTANCES]; |
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uint8_t _num_instances; /// number of monitors |
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void convert_params(void); |
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};
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