Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_BattMonitor.h"
       4             : #include "AP_BattMonitor_Backend.h"
       5             : #if HAL_ENABLE_DRONECAN_DRIVERS
       6             : #include <AP_DroneCAN/AP_DroneCAN.h>
       7             : 
       8             : #define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS         5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
       9             : 
      10             : #ifndef AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
      11             : #define AP_BATTMONITOR_UAVCAN_MPPT_DEBUG 0
      12             : #endif
      13             : 
      14             : class AP_BattMonitor_DroneCAN : public AP_BattMonitor_Backend
      15             : {
      16             : public:
      17             :     enum BattMonitor_DroneCAN_Type {
      18             :         UAVCAN_BATTERY_INFO = 0
      19             :     };
      20             : 
      21             :     /// Constructor
      22             :     AP_BattMonitor_DroneCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_DroneCAN_Type type, AP_BattMonitor_Params &params);
      23             : 
      24             :     static const struct AP_Param::GroupInfo var_info[];
      25             : 
      26           0 :     void init() override {}
      27             : 
      28             :     /// Read the battery voltage and current.  Should be called at 10hz
      29             :     void read() override;
      30             : 
      31             :     /// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
      32             :     bool capacity_remaining_pct(uint8_t &percentage) const override;
      33             : 
      34           0 :     bool has_temperature() const override { return _has_temperature; }
      35             : 
      36           0 :     bool has_current() const override { return true; }
      37             : 
      38             :     // Always have consumed energy, either directly from BatteryInfoAux msg or by cumulative current draw
      39           0 :     bool has_consumed_energy() const override { return true; }
      40             : 
      41           0 :     bool has_time_remaining() const override { return _has_time_remaining; }
      42             : 
      43           0 :     bool has_cell_voltages() const override { return _has_cell_voltages; }
      44             : 
      45             :     bool get_cycle_count(uint16_t &cycles) const override;
      46             : 
      47             :     // return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
      48             :     uint32_t get_mavlink_fault_bitmask() const override;
      49             : 
      50             :     static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
      51             :     static AP_BattMonitor_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t battery_id);
      52             :     static void handle_battery_info_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_power_BatteryInfo &msg);
      53             :     static void handle_battery_info_aux_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_power_BatteryInfoAux &msg);
      54             :     static void handle_mppt_stream_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const mppt_Stream &msg);
      55             : 
      56             :     void set_powered_state(bool power_on) override;
      57             : 
      58             :     // reset remaining percentage to given value
      59             :     bool reset_remaining(float percentage) override;
      60             : 
      61             : private:
      62             :     void handle_battery_info(const uavcan_equipment_power_BatteryInfo &msg);
      63             :     void handle_battery_info_aux(const ardupilot_equipment_power_BatteryInfoAux &msg);
      64             :     void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc, uint8_t soh_pct);
      65             : 
      66             :     static bool match_battery_id(uint8_t instance, uint8_t battery_id);
      67             : 
      68             :     // MPPT related enums and methods
      69             :     enum class MPPT_FaultFlags : uint8_t {
      70             :         OVER_VOLTAGE        = (1U<<0),
      71             :         UNDER_VOLTAGE       = (1U<<1),
      72             :         OVER_CURRENT        = (1U<<2),
      73             :         OVER_TEMPERATURE    = (1U<<3),
      74             :     };
      75             :     void handle_mppt_stream(const mppt_Stream &msg);
      76             :     void mppt_check_powered_state();
      77             : 
      78             : #if AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
      79             :     static void mppt_report_faults(const uint8_t instance, const uint8_t fault_flags);
      80             :     static const char* mppt_fault_string(const MPPT_FaultFlags fault);
      81             : #endif
      82             : 
      83             :     // Return true if the DroneCAN state of charge should be used.
      84             :     // Return false if state of charge should be calculated locally by counting mah.
      85             :     bool use_CAN_SoC() const;
      86             : 
      87             :     AP_BattMonitor::BattMonitor_State _interim_state;
      88             : 
      89             :     HAL_Semaphore _sem_battmon;
      90             : 
      91             :     AP_DroneCAN* _ap_dronecan;
      92             :     uint8_t _soc;
      93             :     uint8_t _node_id;
      94             :     uint16_t _cycle_count;
      95             :     float _remaining_capacity_wh;
      96             :     float _full_charge_capacity_wh;
      97             :     bool _has_temperature;
      98             :     bool _has_cell_voltages;
      99             :     bool _has_time_remaining;
     100             :     bool _has_battery_info_aux;
     101             :     uint8_t _instance;                  // instance of this battery monitor
     102             : 
     103             :     AP_Float _curr_mult;                 // scaling multiplier applied to current reports for adjustment
     104             :     // MPPT variables
     105             :     struct {
     106             :         bool is_detected;               // true if this UAVCAN device is a Packet Digital MPPT
     107             :         bool powered_state;             // true if the mppt is powered on, false if powered off
     108             :         bool vehicle_armed_last;        // latest vehicle armed state. used to detect changes and power on/off MPPT board
     109             :         uint8_t fault_flags;            // bits holding fault flags
     110             :         uint32_t powered_state_remote_ms; // timestamp of when request was sent, zeroed on response. Used to retry
     111             :     } _mppt;
     112             : 
     113             :     void handle_outputEnable_response(const CanardRxTransfer&, const mppt_OutputEnableResponse&);
     114             : 
     115             :     Canard::ObjCallback<AP_BattMonitor_DroneCAN, mppt_OutputEnableResponse> mppt_outputenable_res_cb{this, &AP_BattMonitor_DroneCAN::handle_outputEnable_response};
     116             :     Canard::Client<mppt_OutputEnableResponse> *mppt_outputenable_client;
     117             : };
     118             : #endif