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130 lines
4.6 KiB
C++
130 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Battery.hpp
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*
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* Defines basic functionality of UAVCAN legacy Battery subscription
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*
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* @author Peter van der Perk <peter.vanderperk@nxp.com>
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*/
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#pragma once
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#include <uORB/topics/battery_status.h>
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#include <uORB/PublicationMulti.hpp>
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// Legacy message from UAVCANv0
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#include <legacy/equipment/power/BatteryInfo_1_0.h>
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#include "DynamicPortSubscriber.hpp"
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class UavcanLegacyBatteryInfoSubscriber : public UavcanDynamicPortSubscriber
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{
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public:
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UavcanLegacyBatteryInfoSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
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UavcanDynamicPortSubscriber(ins, pmgr, "legacy_bms", instance) { };
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void subscribe() override
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{
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// Subscribe to messages reg.drone.service.battery.Status.0.1
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canardRxSubscribe(&_canard_instance,
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CanardTransferKindMessage,
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_subj_sub._canard_sub._port_id,
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legacy_equipment_power_BatteryInfo_1_0_EXTENT_BYTES_,
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CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC * 100, //FIXME timeout caused by scheduler
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&_subj_sub._canard_sub);
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};
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void callback(const CanardTransfer &receive) override
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{
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PX4_INFO("Legacy BmsCallback");
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legacy_equipment_power_BatteryInfo_1_0 bat_info {};
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size_t bat_info_size_in_bytes = receive.payload_size;
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legacy_equipment_power_BatteryInfo_1_0_deserialize_(&bat_info, (const uint8_t *)receive.payload,
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&bat_info_size_in_bytes);
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battery_status_s bat_status {0};
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bat_status.timestamp = hrt_absolute_time();
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bat_status.voltage_filtered_v = bat_info.voltage;
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bat_status.current_filtered_a = bat_info.current;
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bat_status.average_current_a = bat_info.average_power_10sec;
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bat_status.remaining = bat_info.state_of_charge_pct / 100.0f;
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bat_status.scale = -1;
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if (bat_info.status_flags & legacy_equipment_power_BatteryInfo_1_0_STATUS_FLAG_TEMP_HOT) {
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bat_status.temperature = 100;
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} else if (bat_info.status_flags & legacy_equipment_power_BatteryInfo_1_0_STATUS_FLAG_TEMP_COLD) {
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bat_status.temperature = -30;
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} else {
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bat_status.temperature = 20; // Temp okay ?
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}
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bat_status.cell_count = 0; // Unknown
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bat_status.connected = bat_info.status_flags & legacy_equipment_power_BatteryInfo_1_0_STATUS_FLAG_IN_USE;
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bat_status.source = 1; // External
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bat_status.capacity = bat_info.full_charge_capacity_wh;
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bat_status.serial_number = bat_info.model_instance_id & 0xFFFF; // Take first 16 bits
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bat_status.state_of_health = bat_info.state_of_health_pct; // External
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bat_status.id = bat_info.battery_id;
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/* Missing fields in UAVCANv0 legacy message
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* temperature (partly)
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* cell_count
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* connected (partly)
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* priority
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* cycle_count
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* run_time_to_empty
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* average_time_to_empty
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* manufacture_date
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* max_error
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* interface_error
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* voltage_cell_v
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* max_cell_voltage_delta
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* is_powering_off
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* warning
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*/
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_battery_status_pub.publish(bat_status);
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print_message(bat_status);
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};
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private:
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uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
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};
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