Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include "AP_BattMonitor_config.h"
      18             : 
      19             : #if AP_BATTERY_ENABLED
      20             : 
      21             : #include "AP_BattMonitor.h"
      22             : 
      23             : #include <AP_Common/AP_Common.h>
      24             : 
      25             : class AP_BattMonitor_Backend
      26             : {
      27             : public:
      28             :     // constructor. This incorporates initialisation as well.
      29             :     AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params);
      30             : 
      31             :     // we declare a virtual destructor so that BattMonitor driver can
      32             :     // override with a custom destructor if need be
      33           0 :     virtual ~AP_BattMonitor_Backend(void) {}
      34             : 
      35             :     // initialise
      36           0 :     virtual void init() {};
      37             : 
      38             :     // read the latest battery voltage
      39             :     virtual void read() = 0;
      40             : 
      41             :     /// returns true if battery monitor instance provides time remaining info
      42           0 :     virtual bool has_time_remaining() const { return false; }
      43             : 
      44             :     /// returns true if battery monitor instance provides consumed energy info
      45         344 :     virtual bool has_consumed_energy() const { return false; }
      46             : 
      47             :     /// returns true if battery monitor instance provides current info
      48             :     virtual bool has_current() const = 0;
      49             : 
      50             :     // returns true if battery monitor provides individual cell voltages
      51     2081845 :     virtual bool has_cell_voltages() const { return false; }
      52             : 
      53             :     // returns true if battery monitor provides temperature
      54     2081845 :     virtual bool has_temperature() const { return false; }
      55             : 
      56             :     // returns true if temperature retrieved successfully
      57             :     virtual bool get_temperature(float &temperature) const;
      58             : 
      59             :     // capacity_remaining_pct - returns true if the battery % is available and writes to the percentage argument
      60             :     // returns false if the battery is unhealthy, does not have current monitoring, or the pack_capacity is too small
      61             :     virtual bool capacity_remaining_pct(uint8_t &percentage) const WARN_IF_UNUSED;
      62             : 
      63             :     // return true if cycle count can be provided and fills in cycles argument
      64           0 :     virtual bool get_cycle_count(uint16_t &cycles) const { return false; }
      65             : 
      66             :     // return true if state of health (as a percentage) can be provided and fills in soh_pct argument
      67             :     bool get_state_of_health_pct(uint8_t &soh_pct) const;
      68             : 
      69             :     /// get voltage with sag removed (based on battery current draw and resistance)
      70             :     /// this will always be greater than or equal to the raw voltage
      71             :     float voltage_resting_estimate() const;
      72             : 
      73             :     // update battery resistance estimate and voltage_resting_estimate
      74             :     virtual void update_resistance_estimate();
      75             : 
      76             :     // updates failsafe timers, and returns what failsafes are active
      77             :     virtual AP_BattMonitor::Failsafe update_failsafes(void);
      78             : 
      79             :     // returns false if we fail arming checks, in which case the buffer will be populated with a failure message
      80             :     bool arming_checks(char * buffer, size_t buflen) const;
      81             : 
      82             :     // reset remaining percentage to given value
      83             :     virtual bool reset_remaining(float percentage);
      84             : 
      85             :     // return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
      86     1732841 :     virtual uint32_t get_mavlink_fault_bitmask() const { return 0; }
      87             : 
      88             :     // logging functions 
      89             :     void Log_Write_BAT(const uint8_t instance, const uint64_t time_us) const;
      90             :     void Log_Write_BCL(const uint8_t instance, const uint64_t time_us) const;
      91             : 
      92             :     // set desired powered state (enabled/disabled)
      93           0 :     virtual void set_powered_state(bool power_on) {};
      94             : 
      95             :     // Update an ESC telemetry channel's power information
      96             :     void update_esc_telem_outbound();
      97             : 
      98             :     // amps: current (A)
      99             :     // dt_us: time between samples (micro-seconds)
     100     1235504 :     static float calculate_mah(float amps, float dt_us) { return (float) (amps * dt_us * AUS_TO_MAH); }
     101             : 
     102             :     // check if a option is set
     103     2603875 :     bool option_is_set(const AP_BattMonitor_Params::Options option) const {
     104     2603875 :         return (uint16_t(_params._options.get()) & uint16_t(option)) != 0;
     105             :     }
     106             :     
     107             : #if AP_BATTERY_SCRIPTING_ENABLED
     108           0 :     virtual bool handle_scripting(const BattMonitorScript_State &battmon_state) { return false; }
     109             : #endif
     110             : 
     111             :     // set battery BMS sleep timeout in seconds
     112             :     // set to zero to disable sleep
     113           0 :     virtual void set_sleep_timeout(uint16_t timeout_sec) {}
     114             : 
     115             : protected:
     116             :     AP_BattMonitor                      &_mon;      // reference to front-end
     117             :     AP_BattMonitor::BattMonitor_State   &_state;    // reference to this instances state (held in the front-end)
     118             :     AP_BattMonitor_Params               &_params;   // reference to this instances parameters (held in the front-end)
     119             : 
     120             :     // checks what failsafes could be triggered
     121             :     void check_failsafe_types(bool &low_voltage, bool &low_capacity, bool &critical_voltage, bool &critical_capacity) const;
     122             :     void update_consumed(AP_BattMonitor::BattMonitor_State &state, uint32_t dt_us);
     123             : 
     124             : private:
     125             :     // resistance estimate
     126             :     uint32_t    _resistance_timer_ms;    // system time of last resistance estimate update
     127             :     float       _voltage_filt;           // filtered voltage
     128             :     float       _current_max_amps;       // maximum current since start-up
     129             :     float       _current_filt_amps;      // filtered current
     130             :     float       _resistance_voltage_ref; // voltage used for maximum resistance calculation
     131             :     float       _resistance_current_ref; // current used for maximum resistance calculation
     132             : };
     133             : 
     134             : #if AP_BATTERY_SCRIPTING_ENABLED
     135             : struct BattMonitorScript_State {
     136             :     float voltage; // Battery voltage in volts
     137             :     bool healthy; // True if communicating properly
     138             :     uint8_t cell_count; // Number of valid cells in state
     139             :     uint8_t capacity_remaining_pct=UINT8_MAX; // Remaining battery capacity in percent, 255 for invalid
     140             :     uint8_t state_of_health_pct=UINT8_MAX; // Remaining battery health in percent, 255 for invalid
     141             :     uint16_t cell_voltages[32]; // allow script to have up to 32 cells, will be limited internally
     142             :     uint16_t cycle_count=UINT16_MAX; // Battery cycle count, 65535 for unavailable
     143             :     /*
     144             :       all of the following float variables should be set to NaN by the
     145             :       script if they are not known.
     146             :       consumed_mah will auto-integrate if set to NaN
     147             :      */
     148             :     float current_amps=nanf(""); // Battery current in amperes
     149             :     float consumed_mah=nanf(""); // Total current drawn since start-up in milliampere hours
     150             :     float consumed_wh=nanf(""); // Total energy drawn since start-up in watt hours
     151             :     float temperature=nanf(""); // Battery temperature in degrees Celsius
     152             : };
     153             : #endif // AP_BATTERY_SCRIPTING_ENABLED
     154             : 
     155             : #endif  // AP_BATTERY_ENABLED