Skip to content

Support for CBAT uavcan message parsing #24973

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Jun 25, 2025
Merged

Support for CBAT uavcan message parsing #24973

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
a58ef9c
uavcan battery: fix battery_status.scale, time_remaining and timestamp
MaEtUgR Jun 4, 2025
a7fcbe2
uavcan battery: add support for cuav::equipment::power::CBAT message
MaEtUgR Jun 4, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/drivers/uavcan/Kconfig
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ if DRIVERS_UAVCAN
default y

config UAVCAN_SENSOR_BATTERY
bool "Subscribe to Battery: uavcan::equipment::power::BatteryInfo | ardupilot::equipment::power::BatteryInfoAux"
bool "Subscribe to Battery: uavcan::equipment::power::BatteryInfo | ardupilot::equipment::power::BatteryInfoAux | cuav::equipment::power::CBAT"
default y

config UAVCAN_SENSOR_DIFFERENTIAL_PRESSURE
Expand Down
114 changes: 105 additions & 9 deletions src/drivers/uavcan/sensors/battery.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@ UavcanBatteryBridge::UavcanBatteryBridge(uavcan::INode &node) :
ModuleParams(nullptr),
_sub_battery(node),
_sub_battery_aux(node),
_sub_cbat(node),
_warning(battery_status_s::WARNING_NONE),
_last_timestamp(0)
{
Expand Down Expand Up @@ -78,6 +79,13 @@ int UavcanBatteryBridge::init()
return res;
}

res = _sub_cbat.start(CBATCbBinder(this, &UavcanBatteryBridge::cbat_sub_cb));

if (res < 0) {
PX4_ERR("failed to start uavcan sub: %d", res);
return res;
}

return 0;
}

Expand All @@ -92,7 +100,8 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
}
}

if (instance >= battery_status_s::MAX_INSTANCES) {
if (instance >= battery_status_s::MAX_INSTANCES
|| _batt_update_mod[instance] == BatteryDataType::CBAT) {
return;
}

Expand All @@ -110,10 +119,11 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
if (_batt_update_mod[instance] == BatteryDataType::Raw) {
sumDischarged(_battery_status[instance].timestamp, _battery_status[instance].current_a);
_battery_status[instance].discharged_mah = _discharged_mah;
_battery_status[instance].time_remaining_s = NAN;
}

_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
// _battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
_battery_status[instance].scale = -1.f;
_battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
// _battery_status[instance].cell_count = msg.;
_battery_status[instance].connected = true;
Expand All @@ -123,7 +133,6 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
_battery_status[instance].full_charge_capacity_wh = msg.full_charge_capacity_wh;
_battery_status[instance].remaining_capacity_wh = msg.remaining_capacity_wh;
// _battery_status[instance].cycle_count = msg.;
_battery_status[instance].time_remaining_s = NAN;
// _battery_status[instance].average_time_to_empty = msg.;
_battery_status[instance].id = msg.getSrcNodeID().get();

Expand Down Expand Up @@ -165,11 +174,9 @@ UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardu
}
}

if (instance >= battery_status_s::MAX_INSTANCES) {
return;
}

if (_batt_update_mod[instance] == BatteryDataType::Filter) {
if (instance >= battery_status_s::MAX_INSTANCES
|| _batt_update_mod[instance] == BatteryDataType::Filter
|| _batt_update_mod[instance] == BatteryDataType::CBAT) {
return;
}

Expand All @@ -182,7 +189,7 @@ UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardu
_battery_status[instance].cycle_count = msg.cycle_count;
_battery_status[instance].over_discharge_count = msg.over_discharge_count;
_battery_status[instance].nominal_voltage = msg.nominal_voltage;
_battery_status[instance].time_remaining_s = math::isZero(_battery_status[instance].current_a) ? 0 :
_battery_status[instance].time_remaining_s = math::isZero(_battery_status[instance].current_a) ? NAN :
(_battery_status[instance].remaining_capacity_wh /
_battery_status[instance].nominal_voltage / _battery_status[instance].current_a * 3600);
_battery_status[instance].is_powering_off = msg.is_powering_off;
Expand All @@ -191,7 +198,96 @@ UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardu
_battery_status[instance].voltage_cell_v[i] = msg.voltage_cell[i];
}

// Publish the message once populated with the standard BatteryInfo data
if (_battery_status[instance].timestamp != 0) {
publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
}
}

void UavcanBatteryBridge::cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg)
{
uint8_t instance = 0;

for (instance = 0; instance < battery_status_s::MAX_INSTANCES; instance++) {
if (_battery_status[instance].id == msg.getSrcNodeID().get()) {
break;
}
}

if (instance >= battery_status_s::MAX_INSTANCES
|| _batt_update_mod[instance] == BatteryDataType::Filter) {
return;
}

// If CBAT message with superset of data was received, skip BatteryInfo messages
_batt_update_mod[instance] = BatteryDataType::CBAT;

_battery_status[instance].timestamp = hrt_absolute_time();
_battery_status[instance].voltage_v = msg.voltage;
_battery_status[instance].current_a = -msg.current; // discharge reported negative
_battery_status[instance].current_average_a = -msg.average_current; // discharge reported negative
_battery_status[instance].discharged_mah = msg.full_charge_capacity - msg.remaining_capacity; // mAh
_battery_status[instance].remaining = msg.state_of_charge / 100.f;
_battery_status[instance].scale = -1.f; // not supported, needs to be computed centrally
_battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
_battery_status[instance].full_charge_capacity_wh =
msg.full_charge_capacity * msg.nominal_voltage / 1000.f; // mAh -> Wh
_battery_status[instance].remaining_capacity_wh = msg.remaining_capacity * msg.nominal_voltage / 1000.f; // mAh -> Wh
_battery_status[instance].nominal_voltage = msg.nominal_voltage;
_battery_status[instance].capacity = msg.design_capacity; // mAh
_battery_status[instance].cycle_count = msg.cycle_count;
_battery_status[instance].average_time_to_empty = msg.average_time_to_empty;
_battery_status[instance].manufacture_date = msg.manufacture_date;
_battery_status[instance].state_of_health = msg.state_of_health;
_battery_status[instance].max_error = msg.max_error;
_battery_status[instance].over_discharge_count = msg.over_discharge_count;
_battery_status[instance].connected = true;
_battery_status[instance].cell_count = msg.cell_count;
_battery_status[instance].source = battery_status_s::SOURCE_EXTERNAL;
_battery_status[instance].id = msg.getSrcNodeID().get();
_battery_status[instance].is_powering_off = msg.is_powering_off;

// For time remaining calculation use the average current if supplied
const float remaining_ah = msg.remaining_capacity / 1000.f; // mAh -> Ah
const float current_a = math::isZero(_battery_status[instance].current_average_a) ?
_battery_status[instance].current_a : _battery_status[instance].current_average_a;
_battery_status[instance].time_remaining_s =
math::isZero(current_a) ? NAN : (remaining_ah / current_a * 3600.f); // Ah / A = h * 3600 = s

for (uint8_t i = 0; i < _battery_status[instance].cell_count; i++) {
_battery_status[instance].voltage_cell_v[i] = msg.voltage_cell[i];
}

determineWarning(_battery_status[instance].remaining);
_battery_status[instance].warning = _warning;

uint16_t faults = 0;

if (msg.status_flags & cuav::equipment::power::CBAT::STATUS_FLAG_OVERLOAD) {
faults |= (1 << battery_status_s::FAULT_OVER_CURRENT);
}

if (msg.status_flags & cuav::equipment::power::CBAT::STATUS_FLAG_BAD_BATTERY) {
faults |= (1 << battery_status_s::FAULT_HARDWARE_FAILURE);
}

if (msg.status_flags & cuav::equipment::power::CBAT::STATUS_FLAG_TEMP_HOT) {
faults |= (1 << battery_status_s::FAULT_OVER_TEMPERATURE);
}

if (msg.status_flags & cuav::equipment::power::CBAT::STATUS_FLAG_TEMP_COLD) {
faults |= (1 << battery_status_s::FAULT_UNDER_TEMPERATURE);
}

_battery_status[instance].faults = faults;

publish(msg.getSrcNodeID().get(), &_battery_status[instance]);

_battery_info[instance].timestamp = _battery_status[instance].timestamp;
_battery_info[instance].id = _battery_status[instance].id;
snprintf(_battery_info[instance].serial_number, sizeof(_battery_info[instance].serial_number), "%" PRIu16,
msg.serial_number);
_battery_info_pub[instance].publish(_battery_info[instance]);
}

void
Expand Down
9 changes: 9 additions & 0 deletions src/drivers/uavcan/sensors/battery.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@
#include <uORB/topics/battery_status.h>
#include <uavcan/equipment/power/BatteryInfo.hpp>
#include <ardupilot/equipment/power/BatteryInfoAux.hpp>
#include <cuav/equipment/power/CBAT.hpp>
#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/module_params.h>
Expand All @@ -66,10 +67,12 @@ class UavcanBatteryBridge : public UavcanSensorBridgeBase, public ModuleParams
Raw, // data from BatteryInfo message only
RawAux, // data combination from BatteryInfo and BatteryInfoAux messages
Filter, // filter data from BatteryInfo message with Battery library
CBAT, // CBAT messages
};

void battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg);
void battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::equipment::power::BatteryInfoAux> &msg);
void cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg);
void sumDischarged(hrt_abstime timestamp, float current_a);
void determineWarning(float remaining);
void filterData(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg, uint8_t instance);
Expand All @@ -83,8 +86,14 @@ class UavcanBatteryBridge : public UavcanSensorBridgeBase, public ModuleParams
(const uavcan::ReceivedDataStructure<ardupilot::equipment::power::BatteryInfoAux> &) >
BatteryInfoAuxCbBinder;

typedef uavcan::MethodBinder < UavcanBatteryBridge *,
void (UavcanBatteryBridge::*)
(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &) >
CBATCbBinder;

uavcan::Subscriber<uavcan::equipment::power::BatteryInfo, BatteryInfoCbBinder> _sub_battery;
uavcan::Subscriber<ardupilot::equipment::power::BatteryInfoAux, BatteryInfoAuxCbBinder> _sub_battery_aux;
uavcan::Subscriber<cuav::equipment::power::CBAT, CBATCbBinder> _sub_cbat;

DEFINE_PARAMETERS(
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
Expand Down
3 changes: 2 additions & 1 deletion src/drivers/uavcan/uavcan_params.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -288,10 +288,11 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_BARO, 0);
* Enable UAVCAN battery subscription.
* uavcan::equipment::power::BatteryInfo
* ardupilot::equipment::power::BatteryInfoAux
* cuav::equipment::power::CBAT
*
* 0 - Disable
* 1 - Use raw data. Recommended for Smart battery
* 2 - Filter the data with internal battery library
* 2 - Filter the data with internal battery library (unsupported with CBAT)
*
* @min 0
* @max 2
Expand Down
Loading