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AP_BattMonitor: ESC: add mask
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@IamPete1 @tridge
IamPete1 authored and tridge committed May 13, 2024
1 parent ebaedb3 commit 9026ce0
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Showing 4 changed files with 72 additions and 5 deletions.
32 changes: 32 additions & 0 deletions libraries/AP_BattMonitor/AP_BattMonitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: _
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: _
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[0], "_", 41, AP_BattMonitor, backend_var_info[0]),

#if AP_BATT_MONITOR_MAX_INSTANCES > 1
Expand All @@ -87,6 +89,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: 2_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: 2_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[1], "2_", 42, AP_BattMonitor, backend_var_info[1]),
#endif

Expand All @@ -109,6 +113,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: 3_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: 3_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[2], "3_", 43, AP_BattMonitor, backend_var_info[2]),
#endif

Expand All @@ -131,6 +137,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: 4_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: 4_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[3], "4_", 44, AP_BattMonitor, backend_var_info[3]),
#endif

Expand All @@ -153,6 +161,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: 5_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: 5_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[4], "5_", 45, AP_BattMonitor, backend_var_info[4]),
#endif

Expand All @@ -175,6 +185,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: 6_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: 6_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[5], "6_", 46, AP_BattMonitor, backend_var_info[5]),
#endif

Expand All @@ -197,6 +209,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: 7_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: 7_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[6], "7_", 47, AP_BattMonitor, backend_var_info[6]),
#endif

Expand All @@ -219,6 +233,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: 8_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: 8_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[7], "8_", 48, AP_BattMonitor, backend_var_info[7]),
#endif

Expand All @@ -241,6 +257,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: 9_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: 9_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[8], "9_", 49, AP_BattMonitor, backend_var_info[8]),
#endif

Expand All @@ -263,6 +281,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: A_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: A_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[9], "A_", 50, AP_BattMonitor, backend_var_info[9]),
#endif

Expand All @@ -285,6 +305,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: B_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: B_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[10], "B_", 51, AP_BattMonitor, backend_var_info[10]),
#endif

Expand All @@ -307,6 +329,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: C_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: C_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[11], "C_", 52, AP_BattMonitor, backend_var_info[11]),
#endif

Expand All @@ -329,6 +353,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: D_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: D_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[12], "D_", 53, AP_BattMonitor, backend_var_info[12]),
#endif

Expand All @@ -351,6 +377,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: E_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: E_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[13], "E_", 54, AP_BattMonitor, backend_var_info[13]),
#endif

Expand All @@ -373,6 +401,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: F_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: F_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[14], "F_", 55, AP_BattMonitor, backend_var_info[14]),
#endif

Expand All @@ -395,6 +425,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: G_
// @Path: AP_BattMonitor_INA2xx.cpp
// @Group: G_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[15], "G_", 56, AP_BattMonitor, backend_var_info[15]),
#endif

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ const AP_Param::GroupInfo AP_BattMonitor_DroneCAN::var_info[] = {
// @User: Advanced
AP_GROUPINFO("CURR_MULT", 30, AP_BattMonitor_DroneCAN, _curr_mult, 1.0),

// Param indexes must be between 30 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
// Param indexes must be between 30 and 35 to avoid conflict with other battery monitor param tables loaded by pointer

AP_GROUPEND
};
Expand Down
34 changes: 33 additions & 1 deletion libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,32 @@

#include "AP_BattMonitor_ESC.h"

const AP_Param::GroupInfo AP_BattMonitor_ESC::var_info[] = {

// Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer

// @Param: ESC_MASK
// @DisplayName: ESC mask
// @Description: If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
// @Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32
// @User: Standard
AP_GROUPINFO("ESC_MASK", 36, AP_BattMonitor_ESC, _mask, 0),

// Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer

AP_GROUPEND
};

// constructor. This incorporates initialisation as well.
AP_BattMonitor_ESC::AP_BattMonitor_ESC(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params):
AP_BattMonitor_Backend(mon, mon_state, params)
{
AP_Param::setup_object_defaults(this, var_info);
_state.var_info = var_info;
};

void AP_BattMonitor_ESC::init(void)
{
}
Expand All @@ -34,9 +60,15 @@ void AP_BattMonitor_ESC::read(void)
float current_sum = 0;
float temperature_sum = 0;
uint32_t highest_ms = 0;
_state.consumed_mah = delta_mah;
_state.consumed_mah = delta_mah;

const bool all_enabled = _mask == 0;
for (uint8_t i=0; i<ESC_TELEM_MAX_ESCS; i++) {
if (!all_enabled && ((_mask & (1U<<i)) == 0)) {
// Only include ESCs set in mask
continue;
}

int16_t temperature_cdeg;
float voltage;
float current;
Expand Down
9 changes: 6 additions & 3 deletions libraries/AP_BattMonitor/AP_BattMonitor_ESC.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,7 @@ class AP_BattMonitor_ESC :public AP_BattMonitor_Backend
{
public:
// constructor. This incorporates initialisation as well.
AP_BattMonitor_ESC(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params):
AP_BattMonitor_Backend(mon, mon_state, params)
{};
AP_BattMonitor_ESC(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params);

virtual ~AP_BattMonitor_ESC(void) {};

Expand All @@ -46,7 +44,12 @@ class AP_BattMonitor_ESC :public AP_BattMonitor_Backend
// reset remaining percentage to given value
virtual bool reset_remaining(float percentage) override;

static const struct AP_Param::GroupInfo var_info[];

private:

AP_Int32 _mask;

bool have_current;
bool have_temperature;
float delta_mah;
Expand Down

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