ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp

#include "AP_BattMonitor_config.h"

#if AP_BATTERY_SUM_ENABLED

#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include "AP_BattMonitor.h"

#include "AP_BattMonitor_Sum.h"

/*
  battery monitor that is the sum of other battery monitors after this one

  This can be used to combined other current/voltage sensors into a
  single backend
 */
extern const AP_HAL::HAL& hal;

const AP_Param::GroupInfo AP_BattMonitor_Sum::var_info[] = {

    // @Param: SUM_MASK
    // @DisplayName: Battery Sum mask
    // @Description: 0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
    // @Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9
    // @User: Standard
    AP_GROUPINFO("SUM_MASK", 20, AP_BattMonitor_Sum, _sum_mask, 0),

    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
};

/// Constructor
AP_BattMonitor_Sum::AP_BattMonitor_Sum(AP_BattMonitor &mon,
                                       AP_BattMonitor::BattMonitor_State &mon_state,
                                       AP_BattMonitor_Params &params,
                                       uint8_t instance) :
    AP_BattMonitor_Backend(mon, mon_state, params),
    _instance(instance)
{
    AP_Param::setup_object_defaults(this, var_info);
    _state.var_info = var_info;
}

// read - read the voltage and current
void
AP_BattMonitor_Sum::read()
{
    float voltage_sum = 0;
    float voltage_min = 0;
    uint8_t voltage_count = 0;
    float current_sum = 0;
    uint8_t current_count = 0;

    float temperature_sum = 0.0;
    uint8_t temperature_count = 0;

    float consumed_mah_sum = 0;
    float consumed_wh_sum = 0;

    for (uint8_t i=0; i<_mon.num_instances(); i++) {
        if (i == _instance) {
            // never include self
            continue;
        }
        if ((_sum_mask == 0) && (i <= _instance)) {
            // sum of remaining, skip lower instances
            continue;
        }
        if ((_sum_mask != 0) && ((_sum_mask & 1U<<i) == 0)) {
            // mask param, skip if mask bit not set
            continue;
        }
        if (!_mon.healthy(i)) {
            continue;
        }
        const float voltage = _mon.voltage(i);
        if (voltage_count == 0 || voltage < voltage_min) {
            voltage_min = voltage;
        }
        voltage_sum += voltage;
        voltage_count++;
        float current;
        if (_mon.current_amps(current, i)) {
            current_sum += current;
            current_count++;
        }

        float temperature;
        if (_mon.get_temperature(temperature, i)) {
            temperature_sum += temperature;
            temperature_count++;
        }

        float consumed_mah;
        if (_mon.consumed_mah(consumed_mah, i)) {
            consumed_mah_sum += consumed_mah;
        }

        float consumed_wh;
        if (_mon.consumed_wh(consumed_wh, i)) {
            consumed_wh_sum += consumed_wh;
        }
    }
    const uint32_t tnow_us = AP_HAL::micros();

    if (voltage_count > 0) {
        if (option_is_set(AP_BattMonitor_Params::Options::Minimum_Voltage)) {
            _state.voltage = voltage_min;
        } else {
            _state.voltage = voltage_sum / voltage_count;
        }
    }
    if (current_count > 0) {
        _state.current_amps = current_sum;
        _state.consumed_mah = consumed_mah_sum;
        _state.consumed_wh = consumed_wh_sum;
    }
    if (temperature_count > 0) {
        _state.temperature =  temperature_sum / temperature_count;
        _state.temperature_time = AP_HAL::millis();
    }

    _has_current = (current_count > 0);
    _has_temperature = (temperature_count > 0);
    _state.healthy = (voltage_count > 0);

    if (_state.healthy) {
        _state.last_time_micros = tnow_us;
    }
}

#endif  // AP_BATTERY_SUM_ENABLED