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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
Views: 1798
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#include "AP_BattMonitor_config.h"

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#include <AP_Logger/AP_Logger_config.h>

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#if AP_BATTERY_ENABLED && HAL_LOGGING_ENABLED

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#include "AP_BattMonitor_Backend.h"

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#include <AP_Logger/AP_Logger.h>

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extern const AP_HAL::HAL& hal;

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// Write BAT data packet(s)

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void AP_BattMonitor_Backend::Log_Write_BAT(const uint8_t instance, const uint64_t time_us) const

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{

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    bool has_curr = has_current();

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    uint8_t percent = -1;

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    IGNORE_RETURN(capacity_remaining_pct(percent));

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    float temperature;

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    int16_t temperature_cd = 0;

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    if (get_temperature(temperature)) {

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        temperature_cd = temperature * 100.0;

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    }

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    uint8_t soh_pct = 0;

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    IGNORE_RETURN(get_state_of_health_pct(soh_pct));

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    const struct log_BAT pkt{

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        LOG_PACKET_HEADER_INIT(LOG_BAT_MSG),

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        time_us             : time_us,

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        instance            : instance,

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        voltage             : _state.voltage,

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        voltage_resting     : _state.voltage_resting_estimate,

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        current_amps        : has_curr ? _state.current_amps : AP::logger().quiet_nanf(),

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        current_total       : has_curr ? _state.consumed_mah : AP::logger().quiet_nanf(),

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        consumed_wh         : has_curr ? _state.consumed_wh : AP::logger().quiet_nanf(),

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        temperature         : temperature_cd,

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        resistance          : _state.resistance,

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        rem_percent         : percent,

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        health              : _state.healthy,

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        state_of_health_pct : soh_pct

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    };

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    AP::logger().WriteBlock(&pkt, sizeof(pkt));

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}

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// Write BCL data packet if has_cell_voltages

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void AP_BattMonitor_Backend::Log_Write_BCL(const uint8_t instance, const uint64_t time_us) const

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{

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    if (!has_cell_voltages()) {

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        return;

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    }

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    struct log_BCL cell_pkt{

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        LOG_PACKET_HEADER_INIT(LOG_BCL_MSG),

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        time_us             : time_us,

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        instance            : instance,

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        voltage             : _state.voltage

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    };

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    // we pack the entire BCL message - we must have at least that

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    // many supported cells or the loop below will over-read

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    static_assert(ARRAY_SIZE(_state.cell_voltages.cells) >= ARRAY_SIZE(cell_pkt.cell_voltages), "must have at least ARRAY_SIZE(log_BCL.cell_voltages) cells");

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    for (uint8_t i = 0; i < ARRAY_SIZE(cell_pkt.cell_voltages); i++) {

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        cell_pkt.cell_voltages[i] = _state.cell_voltages.cells[i] + 1; // add 1mv

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    }

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    AP::logger().WriteBlock(&cell_pkt, sizeof(cell_pkt));

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#if AP_BATT_MONITOR_CELLS_MAX > 12

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    if (_state.cell_voltages.cells[12] != UINT16_MAX || _state.cell_voltages.cells[13] != UINT16_MAX)

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    {

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// @LoggerMessage: BCL2

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// @Description: Battery cell voltage information

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// @Field: TimeUS: Time since system startup

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// @Field: Instance: battery instance number

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// @Field: V13: thirteenth cell voltage

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// @Field: V14: fourteenth cell voltage

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        AP::logger().WriteStreaming(

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            "BCL2",

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            "TimeUS,Instance,V13,V14",

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            "s#vv",

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            "F-CC",

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            "QBHH",

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            time_us,

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            instance,

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            _state.cell_voltages.cells[ARRAY_SIZE(cell_pkt.cell_voltages)+0] + 1, // add 1mv

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            _state.cell_voltages.cells[ARRAY_SIZE(cell_pkt.cell_voltages)+1] + 1  // add 1mv

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            );

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    }

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#endif

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}

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#endif  // AP_BATTERY_ENABLED && HAL_LOGGING_ENABLED

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