src/main/sensors/current.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "common/time.h"
  24 #include "current_ids.h"
  25
  26 typedef enum {
  27     CURRENT_METER_NONE = 0,
  28     CURRENT_METER_ADC,
  29     CURRENT_METER_VIRTUAL,
  30     CURRENT_METER_ESC,
  31     CURRENT_METER_MSP,
  32     CURRENT_METER_COUNT
  33 } currentMeterSource_e;
  34
  35 extern const char * const currentMeterSourceNames[CURRENT_METER_COUNT];
  36
  37 typedef struct currentMeter_s {
  38     int32_t amperage;           // current read by current sensor in centiampere (1/100th A)
  39     int32_t amperageLatest;     // current read by current sensor in centiampere (1/100th A) (unfiltered)
  40     int32_t mAhDrawn;           // milliampere hours drawn from the battery since start
  41 } currentMeter_t;
  42
  43 // WARNING - do not mix usage of CURRENT_SENSOR_* and CURRENT_METER_*, they are separate concerns.
  44
  45 typedef struct currentMeterMAhDrawnState_s {
  46     int32_t mAhDrawn;           // milliampere hours drawn from the battery since start
  47     float mAhDrawnF;
  48 } currentMeterMAhDrawnState_t;
  49
  50 //
  51 // Sensors
  52 //
  53
  54 typedef enum {
  55     CURRENT_SENSOR_VIRTUAL = 0,
  56     CURRENT_SENSOR_ADC,
  57     CURRENT_SENSOR_ESC,
  58     CURRENT_SENSOR_MSP
  59 } currentSensor_e;
  60
  61
  62 //
  63 // ADC
  64 //
  65
  66 typedef struct currentMeterADCState_s {
  67     currentMeterMAhDrawnState_t mahDrawnState;
  68     int32_t amperage;           // current read by current sensor in centiampere (1/100th A)
  69     int32_t amperageLatest;     // current read by current sensor in centiampere (1/100th A) (unfiltered)
  70 } currentMeterADCState_t;
  71
  72 typedef struct currentSensorADCConfig_s {
  73     int16_t scale;              // scale the current sensor output voltage to milliamps. Value in mV/10A
  74     int16_t offset;             // offset of the current sensor in mA
  75 } currentSensorADCConfig_t;
  76
  77 PG_DECLARE(currentSensorADCConfig_t, currentSensorADCConfig);
  78
  79 //
  80 // Virtual
  81 //
  82
  83 typedef struct currentMeterVirtualState_s {
  84     currentMeterMAhDrawnState_t mahDrawnState;
  85     int32_t amperage;           // current read by current sensor in centiamperes (1/100th A)
  86 } currentSensorVirtualState_t;
  87
  88 typedef struct currentSensorVirtualConfig_s {
  89     int16_t scale;              // scale the throttle to centiamperes, using a hardcoded thrust linearization function (see Battery.md)
  90     uint16_t offset;            // offset of the current sensor in centiamperes (1/100th A)
  91 } currentSensorVirtualConfig_t;
  92
  93 PG_DECLARE(currentSensorVirtualConfig_t, currentSensorVirtualConfig);
  94
  95 //
  96 // ESC
  97 //
  98
  99 typedef struct currentMeterESCState_s {
 100     int32_t mAhDrawn;           // milliampere hours drawn from the battery since start
 101     int32_t amperage;           // current read by current sensor in centiampere (1/100th A)
 102 } currentMeterESCState_t;
 103
 104
 105 //
 106 // MSP
 107 //
 108
 109 typedef struct currentMeterMSPState_s {
 110     int32_t mAhDrawn;           // milliampere hours drawn from the battery since start
 111     int32_t amperage;           // current read by current sensor in centiampere (1/100th A)
 112 } currentMeterMSPState_t;
 113
 114
 115 //
 116 // Current Meter API
 117 //
 118
 119 void currentMeterReset(currentMeter_t *meter);
 120
 121 void currentMeterADCInit(void);
 122 void currentMeterADCRefresh(int32_t lastUpdateAt);
 123 void currentMeterADCRead(currentMeter_t *meter);
 124
 125 void currentMeterVirtualInit(void);
 126 void currentMeterVirtualRefresh(int32_t lastUpdateAt, bool armed, bool throttleLowAndMotorStop, int32_t throttleOffset);
 127 void currentMeterVirtualRead(currentMeter_t *meter);
 128
 129 void currentMeterESCInit(void);
 130 void currentMeterESCRefresh(int32_t lastUpdateAt);
 131 void currentMeterESCReadCombined(currentMeter_t *meter);
 132 void currentMeterESCReadMotor(uint8_t motorNumber, currentMeter_t *meter);
 133
 134 void currentMeterMSPInit(void);
 135 void currentMeterMSPRefresh(timeUs_t currentTimeUs);
 136 void currentMeterMSPRead(currentMeter_t *meter);
 137 void currentMeterMSPSet(uint16_t amperage, uint16_t mAhDrawn);
 138
 139 //
 140 // API for reading current meters by id.
 141 //
 142 extern const uint8_t supportedCurrentMeterCount;
 143 extern const uint8_t currentMeterIds[];
 144 void currentMeterRead(currentMeterId_e id, currentMeter_t *currentMeter);