ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef AP_BATTMONITOR_ANALOG_H
#define AP_BATTMONITOR_ANALOG_H
#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
// default pins and dividers
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
// Flymaple board pin 20 is connected to the external battery supply
// via a 24k/5.1k voltage divider. The schematic claims the divider is 25k/5k,
// but the actual installed resistors are not so.
// So the divider ratio is 5.70588 = (24000+5100)/5100
# define AP_BATT_VOLT_PIN 20
# define AP_BATT_CURR_PIN 19
# define AP_BATT_VOLTDIVIDER_DEFAULT 5.70588f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// px4
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN 101
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
// pixhawk
# define AP_BATT_VOLT_PIN 2
# define AP_BATT_CURR_PIN 3
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
# define AP_BATT_VOLT_PIN 13
# define AP_BATT_CURR_PIN 12
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
# define AP_BATT_VOLT_PIN 10
# define AP_BATT_CURR_PIN 11
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
# define AP_BATT_VOLT_PIN 10
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
# define AP_BATT_VOLT_PIN 10
# define AP_BATT_CURR_PIN 1
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRHERO_V10)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN 101
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#else
# define AP_BATT_VOLT_PIN -1
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#endif
// Other values normally set directly by mission planner
// # define AP_BATT_VOLTDIVIDER_DEFAULT 15.70 // Volt divider for AttoPilot 50V/90A sensor
// # define AP_BATT_VOLTDIVIDER_DEFAULT 4.127 // Volt divider for AttoPilot 13.6V/45A sensor
// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 27.32 // Amp/Volt for AttoPilot 50V/90A sensor
// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 13.66 // Amp/Volt for AttoPilot 13.6V/45A sensor
class AP_BattMonitor_Analog : public AP_BattMonitor_Backend
{
public:
/// Constructor
AP_BattMonitor_Analog(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state);
/// Read the battery voltage and current. Should be called at 10hz
void read();
protected:
AP_HAL::AnalogSource *_volt_pin_analog_source;
AP_HAL::AnalogSource *_curr_pin_analog_source;
};
#endif // AP_BATTMONITOR_ANALOG_H