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 #ifdef USE_BATTERY_CONTINUE
  42     int32_t mAhDrawnOffset;     // mAh offset
  43 #endif
  44 } currentMeter_t;
  45
  46 // WARNING - do not mix usage of CURRENT_SENSOR_* and CURRENT_METER_*, they are separate concerns.
  47
  48 typedef struct currentMeterMAhDrawnState_s {
  49     int32_t mAhDrawn;           // milliampere hours drawn from the battery since start
  50     float mAhDrawnF;
  51 } currentMeterMAhDrawnState_t;
  52
  53 //
  54 // Sensors
  55 //
  56
  57 typedef enum {
  58     CURRENT_SENSOR_VIRTUAL = 0,
  59     CURRENT_SENSOR_ADC,
  60     CURRENT_SENSOR_ESC,
  61     CURRENT_SENSOR_MSP
  62 } currentSensor_e;
  63
  64
  65 //
  66 // ADC
  67 //
  68
  69 typedef struct currentMeterADCState_s {
  70     currentMeterMAhDrawnState_t mahDrawnState;
  71     int32_t amperage;           // current read by current sensor in centiampere (1/100th A)
  72     int32_t amperageLatest;     // current read by current sensor in centiampere (1/100th A) (unfiltered)
  73 } currentMeterADCState_t;
  74
  75 typedef struct currentSensorADCConfig_s {
  76     int16_t scale;              // scale the current sensor output voltage to milliamps. Value in mV/10A
  77     int16_t offset;             // offset of the current sensor in mA
  78 } currentSensorADCConfig_t;
  79
  80 PG_DECLARE(currentSensorADCConfig_t, currentSensorADCConfig);
  81
  82 //
  83 // Virtual
  84 //
  85
  86 typedef struct currentMeterVirtualState_s {
  87     currentMeterMAhDrawnState_t mahDrawnState;
  88     int32_t amperage;           // current read by current sensor in centiamperes (1/100th A)
  89 } currentSensorVirtualState_t;
  90
  91 typedef struct currentSensorVirtualConfig_s {
  92     int16_t scale;              // scale the throttle to centiamperes, using a hardcoded thrust linearization function (see Battery.md)
  93     uint16_t offset;            // offset of the current sensor in centiamperes (1/100th A)
  94 } currentSensorVirtualConfig_t;
  95
  96 PG_DECLARE(currentSensorVirtualConfig_t, currentSensorVirtualConfig);
  97
  98 //
  99 // ESC
 100 //
 101
 102 typedef struct currentMeterESCState_s {
 103     int32_t mAhDrawn;           // milliampere hours drawn from the battery since start
 104     int32_t amperage;           // current read by current sensor in centiampere (1/100th A)
 105 } currentMeterESCState_t;
 106
 107
 108 //
 109 // MSP
 110 //
 111
 112 typedef struct currentMeterMSPState_s {
 113     int32_t mAhDrawn;           // milliampere hours drawn from the battery since start
 114     int32_t amperage;           // current read by current sensor in centiampere (1/100th A)
 115 } currentMeterMSPState_t;
 116
 117
 118 //
 119 // Current Meter API
 120 //
 121
 122 void currentMeterReset(currentMeter_t *meter);
 123
 124 void currentMeterADCInit(void);
 125 void currentMeterADCRefresh(int32_t lastUpdateAt);
 126 void currentMeterADCRead(currentMeter_t *meter);
 127
 128 void currentMeterVirtualInit(void);
 129 void currentMeterVirtualRefresh(int32_t lastUpdateAt, bool armed, bool throttleLowAndMotorStop, int32_t throttleOffset);
 130 void currentMeterVirtualRead(currentMeter_t *meter);
 131
 132 void currentMeterESCInit(void);
 133 void currentMeterESCRefresh(int32_t lastUpdateAt);
 134 void currentMeterESCReadCombined(currentMeter_t *meter);
 135 void currentMeterESCReadMotor(uint8_t motorNumber, currentMeter_t *meter);
 136
 137 void currentMeterMSPInit(void);
 138 void currentMeterMSPRefresh(timeUs_t currentTimeUs);
 139 void currentMeterMSPRead(currentMeter_t *meter);
 140 void currentMeterMSPSet(uint16_t amperage, uint16_t mAhDrawn);
 141
 142 //
 143 // API for reading current meters by id.
 144 //
 145 extern const uint8_t supportedCurrentMeterCount;
 146 extern const uint8_t currentMeterIds[];
 147 void currentMeterRead(currentMeterId_e id, currentMeter_t *currentMeter);