mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 05:50:35 +08:00
Refactored battery library for multiple instances
This commit is contained in:
Timothy Scott
committed by
Julian Oes
Julian Oes
parent
d7b95870b9
commit
bff1df7080
@@ -43,6 +43,7 @@ px4_add_module(
|
||||
sensors.cpp
|
||||
parameters.cpp
|
||||
temperature_compensation.cpp
|
||||
power.cpp
|
||||
|
||||
DEPENDS
|
||||
airspeed
|
||||
|
||||
@@ -0,0 +1,91 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file power.cpp
|
||||
*
|
||||
* @author Timothy Scott <timothy@auterion.com>
|
||||
*/
|
||||
#include "power.h"
|
||||
|
||||
Power::Power() {}
|
||||
|
||||
void Power::update(px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS], int nchannels, float throttle, bool armed)
|
||||
{
|
||||
|
||||
#if BOARD_NUMBER_BRICKS > 0
|
||||
/* For legacy support we publish the battery_status for the Battery that is
|
||||
* associated with the Brick that is the selected source for VDD_5V_IN
|
||||
* Selection is done in HW ala a LTC4417 or similar, or may be hard coded
|
||||
* Like in the FMUv4
|
||||
*/
|
||||
|
||||
/* Per Brick readings with default unread channels at 0 */
|
||||
int32_t bat_current_cnt[BOARD_NUMBER_BRICKS] = {0};
|
||||
int32_t bat_voltage_cnt[BOARD_NUMBER_BRICKS] = {0};
|
||||
|
||||
// The channel readings are not necessarily in a nice order, so we iterate through
|
||||
// to find every relevant channel.
|
||||
for (int i = 0; i < nchannels; i++) {
|
||||
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
|
||||
/* look for specific channels and process the raw voltage to measurement data */
|
||||
if (_analogBatteries[b]->vChannel == buf_adc[i].am_channel) {
|
||||
/* Voltage in ADC counts */
|
||||
bat_voltage_cnt[b] = buf_adc[i].am_data;
|
||||
|
||||
} else if (_analogBatteries[b]->iChannel == buf_adc[i].am_channel) {
|
||||
/* Voltage at current sense resistor in ADC counts */
|
||||
bat_current_cnt[b] = buf_adc[i].am_data;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Based on the valid_chan, used to indicate the selected the lowest index
|
||||
* (highest priority) supply that is the source for the VDD_5V_IN
|
||||
* When < 0 none selected
|
||||
*/
|
||||
|
||||
int selected_source = -1;
|
||||
|
||||
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
|
||||
if (_analogBatteries[b]->is_valid() && selected_source < 0) {
|
||||
selected_source = b;
|
||||
}
|
||||
|
||||
_analogBatteries[b]->updateBatteryStatusRawADC(bat_voltage_cnt[b], bat_current_cnt[b], hrt_absolute_time(),
|
||||
selected_source == b, b, throttle, armed);
|
||||
}
|
||||
|
||||
#endif /* BOARD_NUMBER_BRICKS > 0 */
|
||||
|
||||
}
|
||||
@@ -0,0 +1,112 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file power.h
|
||||
*
|
||||
* @author Timothy Scott <timothy@auterion.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <board_config.h>
|
||||
#include <battery/battery.h>
|
||||
|
||||
#ifdef BOARD_NUMBER_DIGITAL_BRICKS
|
||||
#define TOTAL_BRICKS (BOARD_NUMBER_BRICKS + BOARD_NUMBER_DIGITAL_BRICKS)
|
||||
#else
|
||||
#define TOTAL_BRICKS BOARD_NUMBER_BRICKS
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Measures voltage, current, etc. of all batteries connected to the vehicle, both
|
||||
* analog and digital.
|
||||
*/
|
||||
class Power
|
||||
{
|
||||
public:
|
||||
Power();
|
||||
|
||||
/**
|
||||
* Updates the measurements of each battery.
|
||||
*
|
||||
* If the parameter `BAT_SOURCE` == 0, this function will also publish an instance of the uORB topic
|
||||
* `battery_status` for each battery. For reasons of backwards compability, instance 0 will always be the
|
||||
* primary battery. However, this may change in the future! In the future, please use orb_priority() to find
|
||||
* the primary battery.
|
||||
* @param buf_adc Buffer of ADC readings
|
||||
* @param nchannels Number of valid ADC readings in `buf_adc`
|
||||
* @param throttle Normalized throttle (between 0 and 1, or maybe between -1 and 1 in the future)
|
||||
* @param armed True if the vehicle is armed
|
||||
*/
|
||||
void update(px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS], int nchannels, float throttle, bool armed);
|
||||
|
||||
private:
|
||||
|
||||
/*
|
||||
* All of these #if's are doing one thing: Building an array of `BatteryBase` objects, one
|
||||
* for each possible connected battery. A `BatteryBase` object does not mean that a battery IS connected,
|
||||
* it just means that one CAN be connected.
|
||||
*
|
||||
* For an example of what this looks like after preprocessing, assume that BOARD_NUMBER_BRICKS = 2:
|
||||
* ```
|
||||
* Battery1 _battery0;
|
||||
* Battery2 _battery1;
|
||||
*
|
||||
* BatteryBase *_analogBatteries[2] {
|
||||
* &_battery0,
|
||||
* &_battery1,
|
||||
* }
|
||||
* ```
|
||||
*
|
||||
* The #if BOARD_NUMBER_BRICKS > 0 wraps the entire declaration because otherwise, an empty array is declared
|
||||
* which then is unused. In some configurations, an unused variable throws a compile error.
|
||||
*/
|
||||
|
||||
// TODO: Add digital batteries
|
||||
|
||||
#if BOARD_NUMBER_BRICKS > 0
|
||||
Battery1 _battery0;
|
||||
|
||||
#if BOARD_NUMBER_BRICKS > 1
|
||||
Battery2 _battery1;
|
||||
#endif
|
||||
|
||||
BatteryBase *_analogBatteries[BOARD_NUMBER_BRICKS] {
|
||||
&_battery0,
|
||||
#if BOARD_NUMBER_BRICKS > 1
|
||||
&_battery1,
|
||||
#endif
|
||||
}; // End _analogBatteries
|
||||
#endif // End #if BOARD_NUMBER_BRICKS > 0
|
||||
};
|
||||
@@ -1,57 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Battery voltage divider (V divider)
|
||||
*
|
||||
* This is the divider from battery voltage to 3.3V ADC voltage.
|
||||
* If using e.g. Mauch power modules the value from the datasheet
|
||||
* can be applied straight here. A value of -1 means to use
|
||||
* the board default.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @decimal 8
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
|
||||
|
||||
/**
|
||||
* Battery current per volt (A/V)
|
||||
*
|
||||
* The voltage seen by the 3.3V ADC multiplied by this factor
|
||||
* will determine the battery current. A value of -1 means to use
|
||||
* the board default.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @decimal 8
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
|
||||
@@ -142,7 +142,6 @@ private:
|
||||
|
||||
VotedSensorsUpdate _voted_sensors_update;
|
||||
|
||||
|
||||
VehicleAcceleration _vehicle_acceleration;
|
||||
VehicleAngularVelocity _vehicle_angular_velocity;
|
||||
|
||||
|
||||
@@ -239,7 +239,7 @@ private:
|
||||
hrt_abstime _last_sitl_timestamp{0};
|
||||
|
||||
// Lib used to do the battery calculations.
|
||||
Battery _battery {};
|
||||
Battery1 _battery {};
|
||||
battery_status_s _battery_status{};
|
||||
|
||||
#ifndef __PX4_QURT
|
||||
|
||||
@@ -370,10 +370,7 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
|
||||
vbatt *= _battery.cell_count();
|
||||
|
||||
const float throttle = 0.0f; // simulate no throttle compensation to make the estimate predictable
|
||||
_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, true, 0, throttle, armed, &_battery_status);
|
||||
|
||||
// publish the battery voltage
|
||||
_battery_pub.publish(_battery_status);
|
||||
_battery.updateBatteryStatus(vbatt, ibatt, now_us, true, 0, throttle, armed);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user