UAVCANv0: add CUAV smart battery support

2026-05-22 01:12:31 +00:00 · 2021-04-12 09:27:31 +08:00
parent 96d0755afd
commit 45b9e18195
7 changed files with 300 additions and 3 deletions
--- a/src/drivers/uavcan/sensors/cbat.hpp
+++ b/src/drivers/uavcan/sensors/cbat.hpp
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+/**
+ * @author Mengxiao Li <mengxiao@cuav.net>
+ */
+
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+#include <uORB/topics/battery_status.h>
+#include <cuav/equipment/power/CBAT.hpp>
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/module_params.h>
+#include <mathlib/mathlib.h>
+
+class UavcanCBATBridge : public UavcanSensorBridgeBase, public ModuleParams
+{
+public:
+	static const char *const NAME;
+
+	UavcanCBATBridge(uavcan::INode &node);
+
+	const char *get_name() const override { return NAME; }
+
+	int init() override;
+
+private:
+
+	void battery_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg);
+	void determineWarning(float remaining);
+
+	typedef uavcan::MethodBinder < UavcanCBATBridge *,
+		void (UavcanCBATBridge::*)
+		(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &) >
+		CBATCbBinder;
+
+	uavcan::Subscriber<cuav::equipment::power::CBAT, CBATCbBinder> _sub_battery;
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
+		(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
+		(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr
+	)
+
+	uint8_t _warning;
+	float _max_cell_voltage_delta = 0.f;
+};