src/main/sensors/battery_config_structs.h

   1 /*
   2  * This file is part of INAV
   3  *
   4  * INAV 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  * INAV distributed in the hope that it
  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 <stdbool.h>
  24 #include <stdint.h>
  25
  26 #include "platform.h"
  27
  28 typedef enum {
  29     CURRENT_SENSOR_NONE = 0,
  30     CURRENT_SENSOR_ADC,
  31     CURRENT_SENSOR_VIRTUAL,
  32     CURRENT_SENSOR_FAKE,
  33     CURRENT_SENSOR_ESC,
  34     CURRENT_SENSOR_MAX = CURRENT_SENSOR_FAKE
  35 } currentSensor_e;
  36
  37 typedef enum {
  38     VOLTAGE_SENSOR_NONE = 0,
  39     VOLTAGE_SENSOR_ADC,
  40     VOLTAGE_SENSOR_ESC,
  41     VOLTAGE_SENSOR_FAKE
  42 } voltageSensor_e;
  43
  44 typedef enum {
  45     BAT_CAPACITY_UNIT_MAH,
  46     BAT_CAPACITY_UNIT_MWH,
  47 } batCapacityUnit_e;
  48
  49 typedef enum {
  50     BAT_VOLTAGE_RAW,
  51     BAT_VOLTAGE_SAG_COMP
  52 } batVoltageSource_e;
  53
  54 typedef struct batteryMetersConfig_s {
  55
  56 #ifdef USE_ADC
  57     struct {
  58         uint16_t scale;
  59         voltageSensor_e type;
  60     } voltage;
  61 #endif
  62
  63     struct {
  64         int16_t scale;                  // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
  65         int16_t offset;                 // offset of the current sensor in millivolt steps
  66         currentSensor_e type;           // type of current meter used, either ADC or virtual
  67     } current;
  68
  69     batVoltageSource_e voltageSource;
  70
  71     batCapacityUnit_e capacity_unit;    // Describes unit of capacity.value, capacity.warning and capacity.critical
  72
  73     uint32_t cruise_power;              // power drawn by the motor(s) at cruise throttle/speed (cW)
  74     uint16_t idle_power;                // power drawn by the system when the motor(s) are stopped (cW)
  75     uint8_t rth_energy_margin;          // Energy that should be left after RTH (%), used for remaining time/distance before RTH
  76
  77     float throttle_compensation_weight;
  78
  79 } batteryMetersConfig_t;
  80
  81 typedef struct batteryProfile_s {
  82
  83 #ifdef USE_ADC
  84     uint8_t cells;
  85
  86     struct {
  87         uint16_t cellDetect;    // maximum voltage per cell, used for auto-detecting battery cell count in 0.01V units, default is 430 (4.3V)
  88         uint16_t cellMax;       // maximum voltage per cell, used for auto-detecting battery voltage in 0.01V units, default is 421 (4.21V)
  89         uint16_t cellMin;       // minimum voltage per cell, this triggers battery critical alarm, in 0.01V units, default is 330 (3.3V)
  90         uint16_t cellWarning;   // warning voltage per cell, this triggers battery warning alarm, in 0.01V units, default is 350 (3.5V)
  91     } voltage;
  92 #endif
  93
  94     struct {
  95         uint32_t value;                     // mAh or mWh (see batteryMetersConfig()->capacity_unit)
  96         uint32_t warning;                   // mAh or mWh (see batteryMetersConfig()->capacity_unit)
  97         uint32_t critical;                  // mAh or mWh (see batteryMetersConfig()->capacity_unit)
  98     } capacity;
  99
 100     uint8_t controlRateProfile;
 101
 102     struct {
 103         float throttleIdle;                 // Throttle IDLE value based on min_command, max_throttle, in percent
 104         float throttleScale;                // Scaling factor for throttle.
 105 #ifdef USE_DSHOT
 106         uint8_t turtleModePowerFactor;      // Power factor from 0 to 100% of flip over after crash
 107 #endif
 108     } motor;
 109
 110     uint16_t failsafe_throttle;             // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
 111
 112     struct {
 113
 114         struct {
 115             uint16_t hover_throttle;        // multicopter hover throttle
 116         } mc;
 117
 118         struct {
 119             uint16_t cruise_throttle;       // Cruise throttle
 120             uint16_t min_throttle;          // Minimum allowed throttle in auto mode
 121             uint16_t max_throttle;          // Maximum allowed throttle in auto mode
 122             uint8_t  pitch_to_throttle;     // Pitch angle (in deg) to throttle gain (in 1/1000's of throttle) (*10)
 123             uint16_t launch_idle_throttle;  // Throttle to keep at launch idle
 124             uint16_t launch_throttle;       // Launch throttle
 125         } fw;
 126
 127     } nav;
 128
 129 #if defined(USE_POWER_LIMITS)
 130     struct {
 131         uint16_t continuousCurrent;         // dA
 132         uint16_t burstCurrent;              // dA
 133         uint16_t burstCurrentTime;          // ds
 134         uint16_t burstCurrentFalldownTime;  // ds
 135
 136 #ifdef USE_ADC
 137         uint16_t continuousPower;           // dW
 138         uint16_t burstPower;                // dW
 139         uint16_t burstPowerTime;            // ds
 140         uint16_t burstPowerFalldownTime;    // ds
 141 #endif // USE_ADC
 142     } powerLimits;
 143 #endif // USE_POWER_LIMITS
 144
 145 } batteryProfile_t;