From d08aaa70133c5850445bad5b4a08e8e5fb685e7f Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 2 Jun 2022 16:18:43 +1000 Subject: [PATCH] Add BATTERY_CELL_VOLTAGES streaming --- src/modules/mavlink/mavlink_messages.cpp | 4 + .../mavlink/streams/BATTERY_CELL_VOLTAGES.hpp | 116 ++++++++++++++++++ 2 files changed, 120 insertions(+) create mode 100644 src/modules/mavlink/streams/BATTERY_CELL_VOLTAGES.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index df1b735e30..3b32975004 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -65,6 +65,7 @@ #include "streams/AUTOPILOT_VERSION.hpp" #include "streams/BATTERY_STATUS.hpp" #include "streams/BATTERY_STATUS_V2.hpp" +#include "streams/BATTERY_CELL_VOLTAGES.hpp" #include "streams/CAMERA_IMAGE_CAPTURED.hpp" #include "streams/CAMERA_TRIGGER.hpp" #include "streams/COLLISION.hpp" @@ -335,6 +336,9 @@ static const StreamListItem streams_list[] = { #if defined(BATTERY_STATUS_V2_HPP) create_stream_list_item(), #endif // BATTERY_STATUS_V2_HPP +#if defined(BATTERY_CELL_VOLTAGES_HPP) + create_stream_list_item(), +#endif // BATTERY_CELL_VOLTAGES_HPP #if defined(SMART_BATTERY_INFO_HPP) create_stream_list_item(), #endif // SMART_BATTERY_INFO_HPP diff --git a/src/modules/mavlink/streams/BATTERY_CELL_VOLTAGES.hpp b/src/modules/mavlink/streams/BATTERY_CELL_VOLTAGES.hpp new file mode 100644 index 0000000000..fd62af9b24 --- /dev/null +++ b/src/modules/mavlink/streams/BATTERY_CELL_VOLTAGES.hpp @@ -0,0 +1,116 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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. + * + ****************************************************************************/ + +#ifndef BATTERY_CELL_VOLTAGES_HPP +#define BATTERY_CELL_VOLTAGES_HPP + +#include + +class MavlinkStreamBatteryCellVoltages : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryCellVoltages(mavlink); } + + static constexpr const char *get_name_static() { return "BATTERY_CELL_VOLTAGES"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_CELL_VOLTAGES; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_CELL_VOLTAGES_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + return size_per_battery * _battery_status_subs.advertised_count(); + } + +private: + explicit MavlinkStreamBatteryCellVoltages(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; + + bool send() override + { + bool updated = false; + + for (auto &battery_sub : _battery_status_subs) { + battery_status_s battery_status; + + if (battery_sub.update(&battery_status)) { + + if (battery_status.connected) { + // We don't know the cell count or we don't know the independent cell voltages we don't report anything - leave cells alone + if (battery_status.cell_count == 0 || battery_status.voltage_cell_v[0] < 0.0001f) { + // do nothing. We have nothing to send for this battery. + } else { + + /* Get number of cells in message (12) using temporary message */ + mavlink_battery_cell_voltages_t temp_bat_msg{}; + static constexpr int mavlink_cell_slots = (sizeof(temp_bat_msg.voltages) / sizeof(temp_bat_msg.voltages[0])); + + /* work out how many cells that we need to send and hence how many messages */ + static constexpr int uorb_cell_slots = + (sizeof(battery_status.voltage_cell_v) / sizeof(battery_status.voltage_cell_v[0])); + + const int cell_slots = math::min(static_cast(battery_status.cell_count), uorb_cell_slots); + const int number_full_messages_of_cells = cell_slots / mavlink_cell_slots; + const int number_partial_messages = cell_slots % mavlink_cell_slots; + const int number_of_messages = number_full_messages_of_cells + (number_partial_messages==0) ? 0 : 1; + + /* Create message for each index of cells */ + for (int message_number = 0; message_number < number_of_messages; message_number++) { + /* battery status message with higher resolution */ + mavlink_battery_cell_voltages_t bat_msg{}; + // TODO: Determine how to better map between battery ID within the firmware and in MAVLink + bat_msg.id = battery_status.id - 1; + bat_msg.index = message_number; + /* populate each cell in current index */ + for (int cell = 0; cell < mavlink_cell_slots; cell++) { + int current_cell = cell + (message_number*mavlink_cell_slots); + bat_msg.voltages[cell] = 0; /* reset all fields to zero */ + // populate cell from uorb (if it exists) + if (current_cell <= cell_slots) { + bat_msg.voltages[cell] = battery_status.voltage_cell_v[current_cell] * 1000.f; + } + } + mavlink_msg_battery_cell_voltages_send_struct(_mavlink->get_channel(), &bat_msg); + updated = true; + } + } + } + } + } + return updated; + } +}; + +#endif // BATTERY_CELL_VOLTAGES_HPP