battgo:取消主动发送数据，添加5s没连接警告消息

libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.h

@@ -22,7 +22,7 @@ public:
     void init(void) override {}
 
      void  request_info(void)override {};
-     void  request_history(void)override {};;
+     void  request_history(void)override {};
 
 private:
     void irq_handler(uint8_t pin, bool pin_state, uint32_t timestamp);

libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.cpp

@@ -12,13 +12,14 @@ AP_BattMonitor_Serial_BattGo::AP_BattMonitor_Serial_BattGo(AP_BattMonitor &mon,
                                                            AP_BattMonitor_Params &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_Battery, serial_instance));
+        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Battery, serial_instance));   
     }
+      last_rev_batt_time = 0;
 };
 
 /* 
@@ -36,8 +37,8 @@ void AP_BattMonitor_Serial_BattGo::init(void)
     if (uart != nullptr)
     {
         requestBattData(BATTGO_CMD_REQUEST_ACTUAL_DATA);
-        requestBattData(BATTGO_CMD_REQUEST_INFO);
-        requestBattData(BATTGO_CMD_REQUEST_HISTORY);
+    //    requestBattData(BATTGO_CMD_REQUEST_INFO);
+    //    requestBattData(BATTGO_CMD_REQUEST_HISTORY);
     }
 }
 bool isparse = false;
@@ -51,8 +52,8 @@ bool AP_BattMonitor_Serial_BattGo::get_reading() //TODO need to Refactor
     int16_t numc;
     numc = uart->available();
     uint8_t data;
-    if (numc == 0)
-        gcs().send_text(MAV_SEVERITY_INFO, "uasart num:%d", numc);
+   // if (numc == 0)
+  //      gcs().send_text(MAV_SEVERITY_INFO, "uasart num:%d", numc);
     isparse = false;
     for (int16_t i = 0; i < numc; i++)
     {
@@ -95,7 +96,7 @@ mavlink_battgo_info_t battgo_info_t;
 mavlink_battgo_history_t battgo_history_t;
 bool AP_BattMonitor_Serial_BattGo::parseBattGo()
 {
-
+     uint8_t offset =0;
     if (data_buf[0] == 0x43)
     {   //电池实时数据
         uint32_t tnow = AP_HAL::micros();
@@ -119,17 +120,36 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo()
             _interim_state.consumed_mah += mah;
             _interim_state.consumed_wh += 0.001f * mah * _interim_state.voltage;
         }
-
+       
+         battgo_history_t.batt_cycled_time = (data_buf[25]<<8)+data_buf[24] ;
+         battgo_history_t.batt_abnormal_time =  (data_buf[27]<<8)+data_buf[26] ;
+         battgo_history_t.temp_abnormal_time = (data_buf[29]<<8)+data_buf[28] ;
+        battgo_history_t.over_vol_abnormal_time=  (data_buf[31]<<8)+data_buf[30] ;
+         offset = 32;
+         battgo_history_t.under_vol_abnormal_time = (data_buf[offset+1]<<8)+data_buf[offset] ;
+         offset =  offset+2;
+         battgo_history_t.soft_crashes_time = data_buf[offset];
+         offset++;
+         battgo_history_t.charging_current_setted  =  (data_buf[offset+3] + (data_buf[offset+2] << 8) + (data_buf[offset+1] << 16) + (data_buf[offset] << 24)) ;
+         offset = offset+4;
+         battgo_history_t.storage_vol_setted =  (data_buf[offset+1]<<8)+data_buf[offset] ;
+         offset+=2;
+         battgo_history_t.charging_full_vol_setted = (data_buf[offset+1]<<8)+data_buf[offset] ;
+         offset+=2;
+         battgo_history_t.self_discharge_times_setted = data_buf[offset];
+         //battgo_history_t.set
         // record time
         _interim_state.last_time_micros = tnow;
         _interim_state.healthy = true;
 
+     
+
         return true;
     }
     else if (data_buf[0] == 0x41)
     {
         //电池参数
-        gcs().send_text(MAV_SEVERITY_INFO, "into  battgo  0x41  battgo info");
+        //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_hardware_ver = data_buf[3];
@@ -185,7 +205,7 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo()
     }
     else if (data_buf[0] == 0x45) //
     {
-        gcs().send_text(MAV_SEVERITY_INFO, "into  battgo  0x45  battgo history");
+       // gcs().send_text(MAV_SEVERITY_INFO, "into  battgo  0x45  battgo history");
         battgo_history_t.channal_num = data_buf[1];
         battgo_history_t.channal_num = data_buf[2];
         battgo_history_t.last_charge_cap = (data_buf[6] << 24) | (data_buf[5] << 16) | (data_buf[4] << 8) | data_buf[3];
@@ -209,20 +229,19 @@ bool AP_BattMonitor_Serial_BattGo::parseBattGo()
 
 void AP_BattMonitor_Serial_BattGo::read()
 {
-    requestBattData(0x42);
-
+    requestBattData(BATTGO_CMD_REQUEST_ACTUAL_DATA);
+    uint32_t tnow = AP_HAL::micros();
     if (get_reading())
     {
         if (parseBattGo())
-        {
-
-            uint32_t tnow = AP_HAL::micros();
+        {     
+             last_rev_batt_time =tnow ;
             // timeout after 5 seconds
             if ((tnow - _interim_state.last_time_micros) > AP_BATTMONITOR_SERIAL_TIMEOUT_MICROS)
             {
                 _interim_state.healthy = false;
             }
-
+            
             // Copy over relevant states over to main state
             //   WITH_SEMAPHORE(_sem_battmon);
 
@@ -237,7 +256,17 @@ void AP_BattMonitor_Serial_BattGo::read()
             _state.temperature_time = _interim_state.temperature_time;
             //...
             _state.healthy = _interim_state.healthy;
+        }else{            
+            if(tnow-last_rev_batt_time>5000000){
+                      _interim_state.healthy = false;
+                      gcs().send_text(MAV_SEVERITY_INFO,"BATT_ERR:已经%d秒没有接收到智能电池 的串口数据！",(tnow-last_rev_batt_time)/1000000);
+            }
         }
+    }else{
+            if(tnow-last_rev_batt_time>5000000){
+                      _interim_state.healthy = false;
+                      gcs().send_text(MAV_SEVERITY_INFO,"BATT_ERR:已经%d秒没有接收到智能电池 的串口数据！",(tnow-last_rev_batt_time)/1000000);
+            }
     }
 }
 

libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.h

@@ -51,7 +51,7 @@ typedef enum
  bool has_cell_voltages() const override { return _has_cell_voltages; }
 
   // static detection function
-  static bool detect(uint8_t serial_instance);
+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();
 
@@ -61,13 +61,13 @@ private:
 
   AP_BattMonitor::BattMonitor_State _interim_state;   //TODO   may need to fix
  
-  char linebuf[10];
-  uint8_t linebuf_len = 0;
+ // char linebuf[10];
+  // uint8_t linebuf_len = 0;
   const int Head1 = 0x55; //数据包帧头
-  uint8_t data_buf[116];
+  uint8_t data_buf[76];
 
-  uint8_t step;
-  uint8_t addr;
+  //uint8_t step;
+  //uint8_t addr;
   uint8_t payload_length;
   uint8_t payload_counter;
   uint16_t check_sum;
@@ -76,10 +76,11 @@ private:
   uint8_t m_eRxStatus = 0;
   uint8_t m_u08RXCnt;
 
+  uint32_t last_rev_batt_time;
   void requestBattData(uint8_t data);
 
   bool get_reading();
-  uint8_t crc_crc8(const uint8_t *p, uint8_t len);
+  //uint8_t crc_crc8(const uint8_t *p, uint8_t len);
   //void gotoStepAddr(uint8_t &data);
   //void setPayLoadData(uint8_t &usart_data);
   bool parseBattGo();

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -67,8 +67,8 @@
 extern const AP_HAL::HAL& hal;
 
 uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms;
-uint8_t GCS_MAVLINK::mavlink_active = 0;
-uint8_t GCS_MAVLINK::chan_is_streaming = 0;
+uint8_t   GCS_MAVLINK::mavlink_active = 0;
+uint8_t   GCS_MAVLINK::chan_is_streaming = 0;
 uint32_t GCS_MAVLINK::reserve_param_space_start_ms;
 
 // private channels are ones used for point-to-point protocols, and
@@ -3283,11 +3283,11 @@ void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t &msg)
 {
     send_message(MSG_AUTOPILOT_VERSION);
     send_banner();
-    if(!AP::arming().is_armed()){
-      AP::battery().request_info();
-      hal.scheduler->delay(500);
-    AP::battery().request_history();   
-    }
+    // if(!AP::arming().is_armed()){
+    //   AP::battery().request_info();
+    //   hal.scheduler->delay(500);
+    // AP::battery().request_history();   
+    // }
 }
 /*  */
 void GCS_MAVLINK::send_banner()
@@ -3972,7 +3972,7 @@ void GCS_MAVLINK::handle_battgo_info(const mavlink_message_t &msg)
 {
     mavlink_battgo_info_t packet;
     mavlink_msg_battgo_info_decode(&msg, &packet);
-    if (packet. request_tag== 1)
+    if (packet. request_tag== 0x5a)
     {
         AP::battery().request_info();
     }
@@ -3981,7 +3981,7 @@ void GCS_MAVLINK::handle_battgo_info(const mavlink_message_t &msg)
 void GCS_MAVLINK::handle_battgo_history(const mavlink_message_t &msg){
 mavlink_battgo_history_t packet;
     mavlink_msg_battgo_history_decode(&msg, &packet);
-    if (packet.request_tag == 1)
+    if (packet.request_tag == 0x5a)
     {
         AP::battery().request_history();
     }