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实时数据基本ok

master
yaozb 5 years ago
parent
1c18717448
commit
0d6bb15488
5 changed files with 228 additions and 283 deletions
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  1. 8
      libraries/AP_BattMonitor/AP_BattMonitor.cpp
  2. 6
      libraries/AP_BattMonitor/AP_BattMonitor.h
  3. 442
      libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.cpp
  4. 50
      libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.h
  5. 5
      libraries/GCS_MAVLink/GCS_Common.cpp

8
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -147,7 +147,7 @@ AP_BattMonitor::init() @@ -147,7 +147,7 @@ AP_BattMonitor::init()
drivers[instance] = new AP_BattMonitor_FuelLevel_PWM(*this, state[instance], _params[instance]);
break;
case AP_BattMonitor_Params::BattMonitor_Serial_BattGo:
drivers[instance] = new AP_BattMonitor_Serial_BattGo(*this, state[instance], _params[instance],instance);//TODO serial_instance here is 0
drivers[instance] = new AP_BattMonitor_Serial_BattGo(*this, state[instance], _params[instance],instance);//TODO
break;
case AP_BattMonitor_Params::BattMonitor_TYPE_NONE:
default:
@ -430,6 +430,8 @@ const AP_BattMonitor::cells & AP_BattMonitor::get_cell_voltages(const uint8_t in @@ -430,6 +430,8 @@ const AP_BattMonitor::cells & AP_BattMonitor::get_cell_voltages(const uint8_t in
if (instance >= AP_BATT_MONITOR_MAX_INSTANCES) {
return state[AP_BATT_PRIMARY_INSTANCE].cell_voltages;
} else {
// gcs().send_text(MAV_SEVERITY_INFO,"cell0:%d",state[instance].cell_voltages.cells[0]);
return state[instance].cell_voltages;
}
}
@ -441,7 +443,9 @@ bool AP_BattMonitor::get_temperature(float &temperature, const uint8_t instance) @@ -441,7 +443,9 @@ bool AP_BattMonitor::get_temperature(float &temperature, const uint8_t instance)
return false;
} else {
temperature = state[instance].temperature;
return (AP_HAL::millis() - state[instance].temperature_time) <= AP_BATT_MONITOR_TIMEOUT;
// gcs().send_text(MAV_SEVERITY_INFO,"===now:%lu tt: %lu",AP_HAL::millis(),state[instance].temperature_time);
return ((int64_t)AP_HAL::millis() - (int64_t)state[instance].temperature_time) <= AP_BATT_MONITOR_TIMEOUT;
}
}

6
libraries/AP_BattMonitor/AP_BattMonitor.h
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@ -69,10 +69,10 @@ public: @@ -69,10 +69,10 @@ public:
cells cell_voltages; // battery cell voltages in millivolts, 10 cells matches the MAVLink spec
float voltage; // voltage in volts
float current_amps; // current in amperes
float consumed_mah; // total current draw in milliamp hours since start-up
float consumed_wh; // total energy consumed in Wh since start-up
float consumed_mah; // total current draw in milliamp hours since start-up
float consumed_wh; // total energy consumed in Wh since start-up
uint32_t last_time_micros; // time when voltage and current was last read in microseconds
uint32_t low_voltage_start_ms; // time when voltage dropped below the minimum in milliseconds
uint32_t low_voltage_start_ms; // time when voltage dropped below the minimum in milliseconds
uint32_t critical_voltage_start_ms; // critical voltage failsafe start timer in milliseconds
float temperature; // battery temperature in degrees Celsius
uint32_t temperature_time; // timestamp of the last received temperature message

442
libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.cpp
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@ -10,14 +10,15 @@ extern const AP_HAL::HAL &hal; @@ -10,14 +10,15 @@ extern const AP_HAL::HAL &hal;
AP_BattMonitor_Serial_BattGo::AP_BattMonitor_Serial_BattGo(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params,
uint8_t serial_instance) : AP_BattMonitor_Backend(mon, mon_state, params)
uint8_t serial_instance) :
AP_BattMonitor_Backend(mon, mon_state, params)
{
const AP_SerialManager &serial_manager = AP::serialmanager();
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Battery, serial_instance);
if (uart != nullptr)
{
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Battery, serial_instance));
}
};
@ -28,298 +29,115 @@ AP_BattMonitor_Serial_BattGo::AP_BattMonitor_Serial_BattGo(AP_BattMonitor &mon, @@ -28,298 +29,115 @@ AP_BattMonitor_Serial_BattGo::AP_BattMonitor_Serial_BattGo(AP_BattMonitor &mon,
*/
bool AP_BattMonitor_Serial_BattGo::detect(uint8_t serial_instance) //how to used
{
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Battery, serial_instance) != nullptr;
}
void AP_BattMonitor_Serial_BattGo::init(void)
{
if (uart != nullptr)
{
requestBattData(BATTGO_CMD_REQUEST_ACTUAL_DATA);
requestBattData(BATTGO_CMD_REQUEST_PARAM);
requestBattData(BATTGO_CMD_REQUEST_HISTORY);
gcs().send_text(MAV_SEVERITY_INFO,"into BattGo::init()");
requestBattData(BATTGO_CMD_REQUEST_ACTUAL_DATA);
requestBattData(BATTGO_CMD_REQUEST_PARAM);
requestBattData(BATTGO_CMD_REQUEST_HISTORY);
}
}
bool isparse =false;
bool AP_BattMonitor_Serial_BattGo::get_reading() //TODO need to Refactor
{
if (uart == nullptr)
{
return false;
}
int16_t numc;
numc = uart->available();
uint8_t data;
bool parsed = false;
if(numc == 0)
gcs().send_text(MAV_SEVERITY_INFO,"uasart num:%d",numc);
isparse = false;
for (int16_t i = 0; i < numc; i++)
{
data = uart->read();
switch (step)
{
case 0:
if (Head1 == data)
{
payload_counter = 0;
payload_length = 0;
step++;
}
is_read_header = false;
break;
case 1: //addr
if (!is_read_header)
{
if (Head1 != data)
{
addr = data;
check_sum = data;
step++;
}
else
{
is_read_header = true;
}
}
else //this data is 0x55
{
is_read_header = false;
if (Head1 == data) // is repeat data
{
addr = data;
step++;
check_sum = data;
}
else
{ //last data 0x55 is header, this data is addr,next step =2;
gotoStepAddr(data);
}
}
break;
case 2: //payload_length;
if (!is_read_header)
{
if (Head1 != data)
{
payload_length = data;
check_sum += data;
step++;
}
else
{
is_read_header = true;
}
}
else //this data is 0x55
{
is_read_header = false;
if (Head1 == data) // is repeat data
{
payload_length = data;
check_sum += data;
step++;
}
else
{ //last data 0x55 is header, this data is addr,next step =2;
gotoStepAddr(data);
}
}
break;
case 3: //payloaddata
if (!is_read_header)
{
if (Head1 != data)
{
setPayLoadData(data);
}
else
{
is_read_header = true;
}
}
else //this data is 0x55
{
is_read_header = false;
if (Head1 == data)
{ // is repeat data
setPayLoadData(data);
}
else
{ //last data 0x55 is header, this data is addr,next step =2;
gotoStepAddr(data);
}
}
break;
case 4: //crc_a
if (!is_read_header)
{
if (Head1 == data)
{
is_read_header = true;
}
else
{
if ((check_sum & 0x00ff) != data)
{
step = 0;
}
else
{
step++;
}
}
}
else //this data is 0x55
{
is_read_header = false;
if (Head1 == data) // is repeat data
{
if ((check_sum & 0x00ff) != data)
{
step = 0;
}
else
{
step++;
}
}
else
{ //last data 0x55 is header, this data is addr,next step =2;
gotoStepAddr(data);
}
}
break;
case 5: //crc_b
if (!is_read_header)
{
if (Head1 == data)
{
is_read_header = true;
}
else
{
if (((check_sum >> 8) & 0x00ff) == data)
{
if (parseBattGo())
parsed = true;
}
step = 0;
}
}
else //this data is 0x55
{
is_read_header = false;
if (Head1 == data) // is repeat data
{
if (((check_sum >> 8) & 0x00ff) == data)
{
if (parseBattGo())
parsed = true;
}
step = 0;
}
else
{ //last data 0x55 is header, this data is addr,next step =2;
gotoStepAddr(data);
}
}
break;
default:
break;
rxProcess(data);
if(isparse){
isparse = true;
return true;
}
}
return parsed;
return isparse;
}
void AP_BattMonitor_Serial_BattGo::gotoStepAddr(uint8_t &data)
{
step = 2; //next step
addr = data;
check_sum = data;
}
// void AP_BattMonitor_Serial_BattGo::gotoStepAddr(uint8_t &data)
// {
// step = 2; //next step
// addr = data;
// check_sum = data;
// }
void AP_BattMonitor_Serial_BattGo::requestBattData(uint8_t data)
{
//发送data主要 0x40 0x42 0x44 地址0x21 及计算crc 均不会出现0x55，故不做0x55处理
uint8_t send_data[6];
uint8_t send_data[13];
send_data[0] = 0x55;
send_data[1] = 0x21;
send_data[2] = 0x01;
send_data[1] = 0x12;
send_data[2] = 0x08;
send_data[3] = data;
uint16_t crc = send_data[1] + send_data[2] + send_data[3];
send_data[4] = crc & 0xff;
send_data[5] = crc >> 8 & 0xff;
send_data[4] = 0;
send_data[5] = 0;
send_data[6] = 0;
send_data[7] = 0;
send_data[8] = 0;
send_data[9] = 0;
send_data[10] = 0;
uint16_t crc = send_data[1] + send_data[2] + send_data[3]; //Notice :other data is 0 ,so no need to add to culcalate crc
send_data[11] = crc & 0xff; //64
send_data[12] = crc >> 8 & 0xff; //00
if (uart->txspace() > sizeof(send_data))
{
uart->write(&send_data[0], sizeof(send_data));
}
}
void AP_BattMonitor_Serial_BattGo::setPayLoadData(uint8_t &usart_data)
{
if (payload_counter < payload_length)
{
data_buf[payload_counter] = usart_data;
payload_counter++;
}
else
{
step++;
}
}
// void AP_BattMonitor_Serial_BattGo::doWithReadHeaderData(uint8_t &usart_data, uint8_t target_data, uint8_t step, uint8_t &payload_length, uint8_t &payload_count, uint8_t *data_buf, bool &is_read_header)
// void AP_BattMonitor_Serial_BattGo::setPayLoadData(uint8_t &usart_data)
// {
// if (!is_read_header)
// if (payload_counter < payload_length)
// {
// target_data = usart_data;
// switch (step)
// {
// case 1: //addr
// check_sum = 0;
// step++;
// case 2: //payload_length;
// payload_length = usart_data;
// step++;
// break;
// case 3: //data
// if (payload_count < payload_length)
// {
// data_buf[payload_count] = usart_data;
// payload_count++;
// }
// break;
// default:
// break;
// }
// check_sum += usart_data;
// data_buf[payload_counter] = usart_data;
// payload_counter++;
// }
// else
// {
// step++;
// }
// }
mavlink_battgo_info_t battgo_info_t;
mavlink_battgo_history_t battgo_history_t ;
mavlink_battgo_info_t battgo_info_t;
mavlink_battgo_history_t battgo_history_t;
bool AP_BattMonitor_Serial_BattGo::parseBattGo()
{
if (data_buf[0] == 0x43)
{ //电池实时数据
gcs().send_text(MAV_SEVERITY_INFO,"into battgo 0x43 battgo realtime data");
uint32_t tnow = AP_HAL::micros();
uint32_t dt = tnow - _interim_state.last_time_micros;
_interim_state.voltage =0;
for (uint8_t i = 0; i < 6; i++)
{
uint16_t valtemp = ((data_buf[4 + 2 * i] << 8) & 0xff00) + data_buf[3 + 2 * i];
_interim_state.cell_voltages.cells[i] = valtemp;
_interim_state.voltage += valtemp;
// gcs().send_text(MAV_SEVERITY_INFO," _interim_state.cell_voltages.cells[%d]: %d",i,valtemp);
_interim_state.voltage += valtemp/1000.0;
_has_cell_voltages = true;
}
_interim_state.temperature = data_buf[15] - 128;
_interim_state.temperature_time = AP_HAL::millis();
_interim_state.current_amps = data_buf[16] + (data_buf[17] << 8) + (data_buf[18] << 16) + (data_buf[19] << 24);
//gcs().send_text(MAV_SEVERITY_INFO," _interim_state.cell_voltages: %f", _interim_state.voltage);
_interim_state.temperature = (int8_t)data_buf[15] ;
//gcs().send_text(MAV_SEVERITY_INFO," _interim_state.temperature: %f", _interim_state.temperature);
_interim_state.temperature_time = AP_HAL::millis();
_interim_state.current_amps =( data_buf[16] + (data_buf[17] << 8) + (data_buf[18] << 16) + (data_buf[19] << 24))/1000.0;
//gcs().send_text(MAV_SEVERITY_INFO," _interim_state.current_amps: %f", _interim_state.current_amps/1000.0);
// update total current drawn since startup
if (_interim_state.last_time_micros != 0 && dt < 2000000)
{
@ -338,7 +156,7 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo() @@ -338,7 +156,7 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo()
else if (data_buf[0] == 0x41)
{
//电池参数
// gcs().send_text(MAV_SEVERITY_INFO,"into battgo 0x41 battgo info");
battgo_info_t.channal_num = data_buf[1];
battgo_info_t.connect_status = data_buf[2];
battgo_info_t.sub_software_ver = data_buf[3];
@ -362,7 +180,7 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo() @@ -362,7 +180,7 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo()
uint8_t hour = (data_buf[33] & 0xF0 << 4) | (data_buf[34] & 0x01 << 1);
uint8_t day = data_buf[34] & 0x3e >> 1;
uint8_t month = (data_buf[34] & 0xc0 >> 6) | (data_buf[35] & 0x03);
uint16_t year = (data_buf[35] & 0xFC >> 2 )+ 2017;
uint16_t year = (data_buf[35] & 0xFC >> 2) + 2017;
battgo_info_t.production_time_year = year;
battgo_info_t.production_time_mon = month;
@ -393,18 +211,18 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo() @@ -393,18 +211,18 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo()
battgo_info_t.battery_core_vol[i] = (data_buf[75 + 2 * i + 1] << 8) | (data_buf[75 + 2 * i]);
}
battgo_info_t.current_temp = data_buf[87];
battgo_info_t.actual_discharge_vol = (data_buf[91] << 24) | (data_buf[90] << 16) | (data_buf[89] << 8) |data_buf[88];
battgo_info_t.actual_charge_vol = (data_buf[95] << 24) | (data_buf[94] << 16) | (data_buf[93] << 8) |data_buf[92];
battgo_info_t.batt_cycle_times = (data_buf[97] << 8) |data_buf[96];
battgo_info_t.batt_abr_times = (data_buf[99] << 8) |data_buf[98];
battgo_info_t.temp_abr_times = (data_buf[101] << 8) |data_buf[100];
battgo_info_t.temp_abr_times = (data_buf[101] << 8) |data_buf[100];
battgo_info_t.over_vol_abr_times = (data_buf[103] << 8) |data_buf[102];
battgo_info_t.under_vol_abr_times = (data_buf[105] << 8) |data_buf[104];
battgo_info_t.actual_discharge_vol = (data_buf[91] << 24) | (data_buf[90] << 16) | (data_buf[89] << 8) | data_buf[88];
battgo_info_t.actual_charge_vol = (data_buf[95] << 24) | (data_buf[94] << 16) | (data_buf[93] << 8) | data_buf[92];
battgo_info_t.batt_cycle_times = (data_buf[97] << 8) | data_buf[96];
battgo_info_t.batt_abr_times = (data_buf[99] << 8) | data_buf[98];
battgo_info_t.temp_abr_times = (data_buf[101] << 8) | data_buf[100];
battgo_info_t.temp_abr_times = (data_buf[101] << 8) | data_buf[100];
battgo_info_t.over_vol_abr_times = (data_buf[103] << 8) | data_buf[102];
battgo_info_t.under_vol_abr_times = (data_buf[105] << 8) | data_buf[104];
battgo_info_t.soft_crash_times = data_buf[106];
battgo_info_t.current_charged_set = (data_buf[110] << 24) | (data_buf[109] << 16) | (data_buf[108] << 8) |data_buf[107];
battgo_info_t.vol_stored_set = (data_buf[112] << 8) |data_buf[111];
battgo_info_t.vol_stored_full_set = (data_buf[114] << 8) |data_buf[113];
battgo_info_t.current_charged_set = (data_buf[110] << 24) | (data_buf[109] << 16) | (data_buf[108] << 8) | data_buf[107];
battgo_info_t.vol_stored_set = (data_buf[112] << 8) | data_buf[111];
battgo_info_t.vol_stored_full_set = (data_buf[114] << 8) | data_buf[113];
battgo_info_t.self_discharge_times = (data_buf[115] << 8);
gcs().update_serial_battgo_info(&battgo_info_t);
//requestBattData(BATTGO_CMD_REQUEST_HISTORY);
@ -412,17 +230,20 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo() @@ -412,17 +230,20 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo()
}
else if (data_buf[0] == 0x45) //
{
battgo_history_t.last_charge_cap = (data_buf[7] << 24) | (data_buf[6] << 16) | (data_buf[5] << 8) |data_buf[4];
// gcs().send_text(MAV_SEVERITY_INFO,"into battgo 0x45 battgo history");
battgo_history_t.last_charge_cap = (data_buf[7] << 24) | (data_buf[6] << 16) | (data_buf[5] << 8) | data_buf[4];
for(int i=0;i<6;i++){
battgo_history_t.battery_core_vol[i] = (data_buf[8+2*i+1]<<8)|data_buf[8+2*i];
}
for (int i = 0; i < 6; i++)
{
battgo_history_t.battery_core_vol[i] = (data_buf[8 + 2 * i + 1] << 8) | data_buf[8 + 2 * i];
}
for(int i=0;i<6;i++){
battgo_history_t.Internal_resistance[i] = (data_buf[20+2*i+1]<<8)|data_buf[20+2*i];
}
for (int i = 0; i < 6; i++)
{
battgo_history_t.Internal_resistance[i] = (data_buf[20 + 2 * i + 1] << 8) | data_buf[20 + 2 * i];
}
battgo_history_t.charge_state = data_buf[32];
gcs().update_serial_battgo_history(&battgo_history_t);
gcs().update_serial_battgo_history(&battgo_history_t);
return true;
}
return false;
@ -430,9 +251,12 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo() @@ -430,9 +251,12 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo()
void AP_BattMonitor_Serial_BattGo::read()
{
requestBattData(0x42);
requestBattData(0x42);
if (get_reading())
{
if (parseBattGo()){
uint32_t tnow = AP_HAL::micros();
// timeout after 5 seconds
if ((tnow - _interim_state.last_time_micros) > AP_BATTMONITOR_SERIAL_TIMEOUT_MICROS)
@ -442,13 +266,19 @@ void AP_BattMonitor_Serial_BattGo::read() @@ -442,13 +266,19 @@ void AP_BattMonitor_Serial_BattGo::read()
// Copy over relevant states over to main state
// WITH_SEMAPHORE(_sem_battmon);
_state.temperature = _interim_state.temperature;
_state.cell_voltages = _interim_state.cell_voltages;
_state.voltage = _interim_state.voltage;
_state.current_amps = _interim_state.current_amps;
_state.consumed_mah = _interim_state.consumed_mah;
_state.consumed_wh = _interim_state.consumed_wh;
_state.last_time_micros = _interim_state.last_time_micros;
//...
_state.temperature = _interim_state.temperature;
_state.temperature_time = _interim_state.temperature_time;
//...
_state.healthy = _interim_state.healthy;
}
}
}
@ -456,3 +286,91 @@ void AP_BattMonitor_Serial_BattGo::notice_to_send_battgo_param() @@ -456,3 +286,91 @@ void AP_BattMonitor_Serial_BattGo::notice_to_send_battgo_param()
{
gcs().send_message(MSG_BATTGAO_INFO);
}
void AP_BattMonitor_Serial_BattGo::rxProcess(uint8_t data) {
if (data == 0x55)
{
m_SyncByteCount++;
if (m_SyncByteCount & 0x01)
return ;
}
else
{
if (m_SyncByteCount & 0x01)
m_eRxStatus = rsWaitAddres;
m_SyncByteCount = 0;
}
switch (m_eRxStatus)
{
case rsWaitSync:
break;
case rsWaitAddres:
{
if (data != 0x21)
{
m_eRxStatus = rsWaitSync;
break;
}
check_sum = data;
m_eRxStatus = rsWaitLength;
}
break;
case rsWaitLength:
{
if (data < 2)
{
m_eRxStatus = rsWaitSync;
break;
}
m_u08RXCnt = 0;
payload_length = data;
check_sum += data;
m_eRxStatus = rsWaitData;
}
break;
case rsWaitData:
{
data_buf[m_u08RXCnt] = data;
m_u08RXCnt++;
check_sum += data;
if (m_u08RXCnt >= payload_length)
m_eRxStatus = rsWaitChkSumL;
}
break;
case rsWaitChkSumL:
{
if (data == (check_sum & 0xFF))
m_eRxStatus = rsWaitChkSumH;
else
m_eRxStatus = rsWaitSync;
}
break;
case rsWaitChkSumH:
{
if (data == ((check_sum >> 8) & 0xFF))
{
//m_bMessege = TRUE;
isparse = true;
}
m_eRxStatus = rsWaitSync;
}
break;
default:
{
m_eRxStatus = rsWaitSync;
}
break;
}
}

50
libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.h
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@ -1,3 +1,5 @@ @@ -1,3 +1,5 @@
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
@ -10,15 +12,25 @@ class AP_BattMonitor_Serial_BattGo : public AP_BattMonitor_Backend @@ -10,15 +12,25 @@ class AP_BattMonitor_Serial_BattGo : public AP_BattMonitor_Backend
{
public:
enum BattMonitor_Serial_BattGo_Type
{
SERIAL_BATTGO_INFO = 0
};
AP_BattMonitor_Serial_BattGo(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params,
uint8_t serial_instance);
AP_BattMonitor_Serial_BattGo(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params,
uint8_t serial_instance);
// enum BattMonitor_Serial_BattGo_Type
// {
// SERIAL_BATTGO_INFO = 0
// };
typedef enum
{
rsWaitSync,
rsWaitAddres,
rsWaitLength,
rsWaitData,
rsWaitChkSumL,
rsWaitChkSumH,
}eComunicainot_t;
// ~AP_BattMonitor_Serial_BattGo();
@ -31,18 +43,21 @@ public: @@ -31,18 +43,21 @@ public:
/// Read the battery voltage and current. Should be called at 10hz
void read() override;
bool has_cell_voltages() const override { return true; }
bool _has_cell_voltages;
bool has_cell_voltages() const override { return _has_cell_voltages; }
// static detection function
static bool detect(uint8_t serial_instance);
void update_battgo_param_mavlink(mavlink_channel_t chan,mavlink_battgo_info_t &mavlink_battgo_info_t);
void notice_to_send_battgo_param();
private:
// get a reading
AP_HAL::UARTDriver *uart = nullptr;
AP_BattMonitor::BattMonitor_State _interim_state;
AP_BattMonitor::BattMonitor_State _interim_state; //TODO may need to fix
char linebuf[10];
uint8_t linebuf_len = 0;
const int Head1 = 0x55; //数据包帧头
@ -53,15 +68,18 @@ private: @@ -53,15 +68,18 @@ private:
uint8_t payload_length;
uint8_t payload_counter;
uint16_t check_sum;
bool is_read_header = false;
uint16_t m_SyncByteCount = 0;
uint8_t m_eRxStatus = 0;
uint8_t m_u08RXCnt;
void requestBattData(uint8_t data);
bool get_reading();
uint8_t crc_crc8(const uint8_t *p, uint8_t len);
void gotoStepAddr(uint8_t &data);
void setPayLoadData(uint8_t &usart_data);
//void gotoStepAddr(uint8_t &data);
//void setPayLoadData(uint8_t &usart_data);
bool parseBattGo();
void rxProcess(uint8_t data);
//void AP_BattMonitor_Serial_BattGo::doWithReadHeaderData(uint8_t &usart_data,uint8_t target_data,uint8_t step,uint8_t &payload_length,uint8_t &payload_count,uint8_t * data_buf,bool &is_read_header);
};

5
libraries/GCS_MAVLink/GCS_Common.cpp
Unescape View File

@ -192,11 +192,16 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const @@ -192,11 +192,16 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
const AP_BattMonitor &battery = AP::battery();
float temp;
bool got_temperature = battery.get_temperature(temp, instance);
// gcs().send_text(MAV_SEVERITY_INFO,"instance:%d got_temp_bool:%d temp:%f",instance,got_temperature,temp);
// gcs().send_text(MAV_SEVERITY_INFO,"instance:%d got_cell_bool:%d " ,instance,battery.has_cell_voltages(instance));
// gcs().send_text(MAV_SEVERITY_INFO,"instance:%d cell0:%d " ,instance,battery.get_cell_voltages(instance).cells[0]);
// ensure we always send a voltage estimate to the GCS, because not all battery monitors monitor individual cells
// as a work around for this we create a set of fake cells to be used if the backend doesn't provide direct monitoring
// the GCS can then recover the pack voltage by summing all non ignored cell values. Because this is looped we can
// report a pack up to 655.34 V with this method
//确保我们始终向GCS发送电压估算值，因为并不是所有的电池监视器都会监视单个电池，为此，如果后端不提供直接监视功能，我们将创建一组假电池以供使用，然后GCS可以恢复电池电量。
// 通过将所有不可忽略的电池值相加来获得电池组电压。 因为这是循环的，所以我们可以用这种方法报告高达655.34 V的电池组
AP_BattMonitor::cells fake_cells;
if (!battery.has_cell_voltages(instance)) {
float voltage = battery.voltage(instance) * 1e3f;

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