├── README.md └── mavic_bat.ino /README.md: -------------------------------------------------------------------------------- 1 | # mavic_bat 2 | sample code to send lipo volage info to Mavic Pro, 3 | connect a pixhawk battery sensor to arduino to get vol info and current info , than use this code to send the info to Mavic. 4 | 5 | not fully test the mhA counter case my battery sensor is broken, and then i naver fly with normal battery. 6 | -------------------------------------------------------------------------------- /mavic_bat.ino: -------------------------------------------------------------------------------- 1 | 2 | /* 3 | 电压:4.16-4.22V涓流补充:100% 4 | 电压:4.15v  剩余容量:99% 5 | 电压:4.14v  剩余容量:97% 6 | 电压:4.12v  剩余容量:95% 7 | 电压:4.10v  剩余容量:92% 8 | 电压:4.08v  剩余容量:90% 9 | 电压:4.05v  剩余容量:87% 10 | 电压:4.03v  剩余容量:85% 11 | 电压:3.97v  剩余容量:80% 12 | 电压:3.93v  剩余容量:75% 13 | 电压:3.90v  剩余容量:70% 14 | 电压:3.87v   余容量:60% 15 | 电压:3.81v  剩余容量:55% 16 | 电压:3.79v  剩余容量:50% 17 | 电压:3.77v  剩余容量:45% 18 | 电压:3.76v  剩余容量:42% 19 | 电压:3.76V （持久电压点） 20 | 电压:3.76v  剩余容量:40% 21 | 电压:3.74v  剩余容量:35% 22 | 电压:3.73v  剩余容量:30% 23 | 电压:3.72v  剩余容量:25% 24 | 电压:3.71v  剩余容量:20% 25 | 电压:3.71V （持久电压点） 26 | 电压:3.69v  剩余容量:15% 27 | 电压:3.66v  剩余容量:12% 28 | 电压:3.65v  剩余容量:10% 29 | 电压:3.64v  剩余容量:8% 30 | 电压:3.63v  剩余容量:5% 31 | 电压:3.61v  剩余容量:3% 32 | 电压:3.59v  剩余容量:1% 33 | 电压:3.58v  剩余容量:关机 一般手机 MP4等设置在此关机。电池输出电流不足，减小很多。 34 | 电压:3.55v  剩余容量:-2% 35 | 电压:3.50v  剩余容量:-5%有电压但电流减小 36 | 电压:3.42v  剩余容量:-8% 37 | 电压:3.3v  剩余容量:-10%影响容量了 38 | 电压:3.0v  剩余容量:-12% 39 | 电压:2.7v   剩余容量:-13%电池快要报废了，容量大打折扣！！！此剩余容量为正比，不是绝对的，只是最低忍耐点为0，如果小于0，放电为负数，电池可能完全放光没电，那样电池就废了。如放到负数-5%—-8%，基本到了极限了，放到最低电压:3.2—2.7v，电池再充电电流很小很慢 影响很大的 40 | */ 41 | 42 | double mhA = 0.0f; 43 | double total_mhA = 4000; //电池总共有多少毫安 44 | unsigned long proc_time; 45 | unsigned long proc_last_time; 46 | //上次发送串口数据的时间 47 | unsigned long last_send_time; 48 | double V_5v = 4.377; //板子上5V输出口的电压 49 | 50 | uint8_t vol_to_parsent(uint32_t vol) 51 | { 52 | vol = vol / 3; 53 | if (vol >= 4150) return 100; 54 | if (vol >= 4140) return 99; 55 | if (vol >= 4130) return 98; 56 | if (vol >= 4140) return 97; 57 | if (vol >= 4120) return 96; 58 | if (vol >= 4120) return 95; 59 | if (vol >= 4120) return 94; 60 | if (vol >= 4110) return 93; 61 | if (vol >= 4100) return 92; 62 | if (vol >= 4090) return 91; 63 | if (vol >= 4080) return 90; 64 | if (vol >= 4070) return 89; 65 | if (vol >= 4060) return 88; 66 | if (vol >= 4050) return 87; 67 | if (vol >= 4040) return 86; 68 | if (vol >= 4030) return 85; 69 | if (vol >= 4010) return 84; 70 | if (vol >= 4000) return 83; 71 | if (vol >= 3990) return 82; 72 | if (vol >= 3980) return 81; 73 | if (vol >= 3970) return 80; 74 | if (vol >= 3960) return 79; 75 | if (vol >= 3955) return 78; 76 | if (vol >= 3950) return 77; 77 | if (vol >= 3940) return 76; 78 | if (vol >= 3930) return 75; 79 | if (vol >= 3920) return 74; 80 | if (vol >= 3915) return 73; 81 | if (vol >= 3910) return 72; 82 | if (vol >= 3905) return 71; 83 | if (vol >= 3900) return 70; 84 | if (vol >= 3895) return 69; 85 | if (vol >= 3890) return 68; 86 | if (vol >= 3885) return 67; 87 | if (vol >= 3880) return 66; 88 | if (vol >= 3870) return 65; 89 | if (vol >= 3865) return 64; 90 | if (vol >= 3860) return 63; 91 | if (vol >= 3855) return 62; 92 | if (vol >= 3850) return 61; 93 | if (vol >= 3840) return 60; 94 | if (vol >= 3835) return 59; 95 | if (vol >= 3830) return 58; 96 | if (vol >= 3825) return 57; 97 | if (vol >= 3820) return 56; 98 | if (vol >= 3810) return 55; 99 | if (vol >= 3805) return 54; 100 | if (vol >= 3800) return 53; 101 | if (vol >= 3795) return 52; 102 | if (vol >= 3790) return 51; 103 | if (vol >= 3785) return 50; 104 | if (vol >= 3782) return 49; 105 | if (vol >= 3779) return 48; 106 | if (vol >= 3776) return 47; 107 | if (vol >= 3773) return 46; 108 | if (vol >= 3770) return 45; 109 | if (vol >= 3768) return 44; 110 | if (vol >= 3766) return 43; 111 | if (vol >= 3764) return 42; 112 | if (vol >= 3762) return 41; 113 | if (vol >= 3760) return 40; 114 | if (vol >= 3755) return 39; 115 | if (vol >= 3750) return 38; 116 | if (vol >= 3746) return 37; 117 | if (vol >= 3743) return 36; 118 | if (vol >= 3740) return 35; 119 | if (vol >= 3738) return 34; 120 | if (vol >= 3736) return 33; 121 | if (vol >= 3734) return 32; 122 | if (vol >= 3732) return 31; 123 | if (vol >= 3730) return 30; 124 | if (vol >= 3728) return 29; 125 | if (vol >= 3726) return 28; 126 | if (vol >= 3724) return 27; 127 | if (vol >= 3722) return 26; 128 | if (vol >= 3720) return 25; 129 | if (vol >= 3718) return 24; 130 | if (vol >= 3716) return 23; 131 | if (vol >= 3714) return 22; 132 | if (vol >= 3712) return 21; 133 | if (vol >= 3710) return 20; 134 | if (vol >= 3705) return 19; 135 | if (vol >= 3700) return 18; 136 | if (vol >= 3696) return 17; 137 | if (vol >= 3693) return 16; 138 | if (vol >= 3690) return 15; 139 | if (vol >= 3680) return 14; 140 | if (vol >= 3670) return 13; 141 | if (vol >= 3660) return 12; 142 | if (vol >= 3655) return 11; 143 | if (vol >= 3650) return 10; 144 | if (vol >= 3645) return 9; 145 | if (vol >= 3640) return 8; 146 | if (vol >= 3636) return 7; 147 | if (vol >= 3633) return 6; 148 | if (vol >= 3630) return 5; 149 | if (vol >= 3620) return 4; 150 | if (vol >= 3610) return 3; 151 | if (vol >= 3600) return 2; 152 | if (vol >= 3590) return 1; 153 | if (vol <= 3500) return 0; 154 | return 0; 155 | } 156 | 157 | const uint16_t crc_tab16[256] = { 158 | 0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF, 159 | 0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7, 160 | 0x1081, 0x0108, 0x3393, 0x221A, 0x56A5, 0x472C, 0x75B7, 0x643E, 161 | 0x9CC9, 0x8D40, 0xBFDB, 0xAE52, 0xDAED, 0xCB64, 0xF9FF, 0xE876, 162 | 0x2102, 0x308B, 0x0210, 0x1399, 0x6726, 0x76AF, 0x4434, 0x55BD, 163 | 0xAD4A, 0xBCC3, 0x8E58, 0x9FD1, 0xEB6E, 0xFAE7, 0xC87C, 0xD9F5, 164 | 0x3183, 0x200A, 0x1291, 0x0318, 0x77A7, 0x662E, 0x54B5, 0x453C, 165 | 0xBDCB, 0xAC42, 0x9ED9, 0x8F50, 0xFBEF, 0xEA66, 0xD8FD, 0xC974, 166 | 0x4204, 0x538D, 0x6116, 0x709F, 0x0420, 0x15A9, 0x2732, 0x36BB, 167 | 0xCE4C, 0xDFC5, 0xED5E, 0xFCD7, 0x8868, 0x99E1, 0xAB7A, 0xBAF3, 168 | 0x5285, 0x430C, 0x7197, 0x601E, 0x14A1, 0x0528, 0x37B3, 0x263A, 169 | 0xDECD, 0xCF44, 0xFDDF, 0xEC56, 0x98E9, 0x8960, 0xBBFB, 0xAA72, 170 | 0x6306, 0x728F, 0x4014, 0x519D, 0x2522, 0x34AB, 0x0630, 0x17B9, 171 | 0xEF4E, 0xFEC7, 0xCC5C, 0xDDD5, 0xA96A, 0xB8E3, 0x8A78, 0x9BF1, 172 | 0x7387, 0x620E, 0x5095, 0x411C, 0x35A3, 0x242A, 0x16B1, 0x0738, 173 | 0xFFCF, 0xEE46, 0xDCDD, 0xCD54, 0xB9EB, 0xA862, 0x9AF9, 0x8B70, 174 | 0x8408, 0x9581, 0xA71A, 0xB693, 0xC22C, 0xD3A5, 0xE13E, 0xF0B7, 175 | 0x0840, 0x19C9, 0x2B52, 0x3ADB, 0x4E64, 0x5FED, 0x6D76, 0x7CFF, 176 | 0x9489, 0x8500, 0xB79B, 0xA612, 0xD2AD, 0xC324, 0xF1BF, 0xE036, 177 | 0x18C1, 0x0948, 0x3BD3, 0x2A5A, 0x5EE5, 0x4F6C, 0x7DF7, 0x6C7E, 178 | 0xA50A, 0xB483, 0x8618, 0x9791, 0xE32E, 0xF2A7, 0xC03C, 0xD1B5, 179 | 0x2942, 0x38CB, 0x0A50, 0x1BD9, 0x6F66, 0x7EEF, 0x4C74, 0x5DFD, 180 | 0xB58B, 0xA402, 0x9699, 0x8710, 0xF3AF, 0xE226, 0xD0BD, 0xC134, 181 | 0x39C3, 0x284A, 0x1AD1, 0x0B58, 0x7FE7, 0x6E6E, 0x5CF5, 0x4D7C, 182 | 0xC60C, 0xD785, 0xE51E, 0xF497, 0x8028, 0x91A1, 0xA33A, 0xB2B3, 183 | 0x4A44, 0x5BCD, 0x6956, 0x78DF, 0x0C60, 0x1DE9, 0x2F72, 0x3EFB, 184 | 0xD68D, 0xC704, 0xF59F, 0xE416, 0x90A9, 0x8120, 0xB3BB, 0xA232, 185 | 0x5AC5, 0x4B4C, 0x79D7, 0x685E, 0x1CE1, 0x0D68, 0x3FF3, 0x2E7A, 186 | 0xE70E, 0xF687, 0xC41C, 0xD595, 0xA12A, 0xB0A3, 0x8238, 0x93B1, 187 | 0x6B46, 0x7ACF, 0x4854, 0x59DD, 0x2D62, 0x3CEB, 0x0E70, 0x1FF9, 188 | 0xF78F, 0xE606, 0xD49D, 0xC514, 0xB1AB, 0xA022, 0x92B9, 0x8330, 189 | 0x7BC7, 0x6A4E, 0x58D5, 0x495C, 0x3DE3, 0x2C6A, 0x1EF1, 0x0F78 190 | }; 191 | 192 | 193 | unsigned short CRC_INIT = 0x3692; 194 | 195 | uint16_t crc16_update(uint16_t crc, uint8_t ch) 196 | { 197 | uint16_t tmp; 198 | uint16_t msg; 199 | 200 | msg = 0x00ff & (uint16_t)ch; 201 | tmp = crc ^ msg; 202 | crc = (crc >> 8) ^ crc_tab16[tmp & 0xff]; 203 | 204 | return crc; 205 | } 206 | uint16_t sdk_stream_crc16_calc(const uint8_t *pMsg, size_t nLen) 207 | { 208 | size_t i; 209 | uint16_t wCRC = CRC_INIT; 210 | 211 | for (i = 0; i < nLen; i++) 212 | { 213 | wCRC = crc16_update(wCRC, pMsg[i]); 214 | } 215 | return wCRC; 216 | } 217 | 218 | void send_vol(uint32_t vol, uint32_t current) 219 | { 220 | uint32_t int_mhA = mhA; 221 | uint32_t int_total_mhA = total_mhA; 222 | current = current / 100; 223 | uint8_t pkt[] = {0x55, 0x2C, 0x04, 0x36, 0x0B, 0x09, 0x25, 0x1B, 0x00, 0x0D, 0x02, 0x00, 0x0c, 0x30, 0x00, 0x00, 0xF0, 0xFA, 0xFF, 0xFF, 0x0A, 0x1A, 0x00, 0x00, 0x0A, 0x1A, 0x00, 0x00, 0xc8, 0x01, 0x03, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x01}; 224 | uint8_t send_pkt[sizeof(pkt) + 2]; 225 | memcpy(&pkt[12], &vol, 4); 226 | memcpy(&pkt[20], &int_total_mhA, 4); 227 | memcpy(&pkt[24], &int_mhA, 4); 228 | memcpy(&pkt[28], ¤t, 2); //本来显示温度的地方 现在显示电流 229 | pkt[31] = mhA/total_mhA * 100; //vol_to_parsent(vol); 230 | uint16_t csum = sdk_stream_crc16_calc(pkt, sizeof(pkt)); 231 | memcpy(&send_pkt[0], &pkt[0], sizeof(pkt)); 232 | memcpy(&send_pkt[sizeof(pkt)], &csum, 2); 233 | 234 | Serial.write(send_pkt, sizeof(send_pkt)); 235 | } 236 | 237 | void setup() { 238 | // initialize serial communication at 9600 bits per second: 239 | Serial.begin(115200); 240 | 241 | last_send_time = 0; 242 | unsigned long proc_last_time = 0; 243 | proc_last_time = millis(); 244 | 245 | } 246 | 247 | float get_A() 248 | { 249 | int Iv = analogRead(A0); 250 | float I = V_5v * (Iv/1023.0) * 17 * (0.0005 / (0.005/3)); 251 | return I; 252 | } 253 | 254 | //获取电压 255 | float get_V() 256 | { 257 | int sensorValue = analogRead(A1); 258 | //Serial.println(sensorValue); 259 | // Convert the analog reading (which goes from 0 - 1023) to a voltage (0 - 5V): 260 | float voltage = sensorValue * (V_5v / 1023.0); 261 | return voltage * 10.2; 262 | } 263 | 264 | // the loop routine runs over and over again forever: 265 | void loop() { 266 | float a = get_A(); 267 | proc_time = millis(); 268 | mhA += (a * ((proc_time - proc_last_time)) / 3600.0f); 269 | proc_last_time = proc_time; 270 | if(proc_time - last_send_time > 1000) 271 | { 272 | int V = analogRead(A0); 273 | //Serial.println(V); 274 | // double current = V * (V_5v / 1023.0); 275 | // Serial.println(V_5v * (V/1023.0) * 17 * (0.0005 / (0.005/3))); 276 | 277 | //Serial.println(a); 278 | //Serial.println(mhA); 279 | //Serial.println(get_V() ); 280 | 281 | send_vol(get_V() , a); 282 | last_send_time = proc_time; 283 | } 284 | delay(50); 285 | } 286 | --------------------------------------------------------------------------------