Line data    Source code

       1             : #include "AP_BattMonitor_config.h"
       2             : 
       3             : #if AP_BATTERY_SCRIPTING_ENABLED
       4             : 
       5             : #include "AP_BattMonitor_Scripting.h"
       6             : 
       7             : #define AP_BATT_MONITOR_SCRIPTING_TIMEOUT_US 5000000
       8             : 
       9           0 : bool AP_BattMonitor_Scripting::capacity_remaining_pct(uint8_t &percentage) const
      10             : {
      11           0 :     if (internal_state.capacity_remaining_pct != UINT8_MAX) {
      12           0 :         percentage = internal_state.capacity_remaining_pct;
      13           0 :         return true;
      14             :     }
      15             :     // Fall back to default implementation
      16           0 :     return AP_BattMonitor_Backend::capacity_remaining_pct(percentage);
      17             : }
      18             : 
      19           0 : bool AP_BattMonitor_Scripting::get_cycle_count(uint16_t &cycles) const
      20             : {
      21           0 :     if (internal_state.cycle_count == UINT16_MAX) {
      22           0 :         return false;
      23             :     }
      24           0 :     cycles = internal_state.cycle_count;
      25           0 :     return true;
      26             : }
      27             : 
      28             : // Called by frontend to update the state. Called at 10Hz
      29           0 : void AP_BattMonitor_Scripting::read()
      30             : {
      31           0 :     WITH_SEMAPHORE(sem);
      32             : 
      33             :     // Check for timeout, to prevent a faulty script from appearing healthy
      34           0 :     if (last_update_us == 0 || AP_HAL::micros() - last_update_us > AP_BATT_MONITOR_SCRIPTING_TIMEOUT_US) {
      35           0 :         _state.healthy = false;
      36           0 :         return;
      37             :     }
      38             : 
      39           0 :     if (_state.last_time_micros == last_update_us) {
      40             :         // No new data
      41           0 :         return;
      42             :     }
      43             : 
      44             :     /*
      45             :       the script can fill in voltages up to 32 cells, for mavlink reporting
      46             :       the extra cell voltages get distributed over the max of 14 for mavlink
      47             :      */
      48           0 :     for (uint8_t i = 0; i < MIN(AP_BATT_MONITOR_CELLS_MAX,internal_state.cell_count); i++) {
      49           0 :         _state.cell_voltages.cells[i] = internal_state.cell_voltages[i];
      50             :     }
      51           0 :     _state.voltage = internal_state.voltage;
      52           0 :     if (!isnan(internal_state.current_amps)) {
      53           0 :         _state.current_amps = internal_state.current_amps;
      54             :     }
      55           0 :     if (!isnan(internal_state.consumed_mah)) {
      56           0 :         _state.consumed_mah = internal_state.consumed_mah;
      57             :     }
      58             :     // Overide integrated consumed energy with script value if it has been set
      59           0 :     if (!isnan(internal_state.consumed_wh)) {
      60           0 :         _state.consumed_wh = internal_state.consumed_wh;
      61             :     }
      62           0 :     if (!isnan(internal_state.temperature)) {
      63           0 :         _state.temperature = internal_state.temperature;
      64             :     }
      65             : 
      66             :     // Set state of health if provided
      67           0 :     _state.has_state_of_health_pct = internal_state.state_of_health_pct != UINT8_MAX;
      68           0 :     if (_state.has_state_of_health_pct) {
      69           0 :         _state.state_of_health_pct = internal_state.state_of_health_pct;
      70             :     }
      71             : 
      72           0 :     _state.healthy = internal_state.healthy;
      73             : 
      74             :     // Update the timestamp (has to be done after the consumed_mah calculation)
      75           0 :     _state.last_time_micros = last_update_us;
      76           0 : }
      77             : 
      78           0 : bool AP_BattMonitor_Scripting::handle_scripting(const BattMonitorScript_State &battmon_state)
      79             : {
      80           0 :     WITH_SEMAPHORE(sem);
      81           0 :     internal_state = battmon_state;
      82           0 :     const uint32_t now_us = AP_HAL::micros();
      83           0 :     uint32_t dt_us = now_us - last_update_us;
      84           0 :     if (last_update_us != 0 && !isnan(internal_state.current_amps) && isnan(internal_state.consumed_mah)) {
      85           0 :         AP_BattMonitor_Backend::update_consumed(_state, dt_us);
      86             :     }
      87           0 :     last_update_us = now_us;
      88           0 :     return true;
      89           0 : }
      90             : 
      91             : #endif // AP_BATTERY_SCRIPTING_ENABLED