mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.7 KiB
C++
50 lines
1.7 KiB
C++
|
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||
|
|
#include <AP_HAL.h>
|
||
|
|
#include <AP_Common.h>
|
||
|
|
#include <AP_Math.h>
|
||
|
|
#include "AP_BattMonitor.h"
|
||
|
|
#include "AP_BattMonitor_Analog.h"
|
||
|
|
|
||
|
|
extern const AP_HAL::HAL& hal;
|
||
|
|
|
||
|
|
/// Constructor
|
||
|
|
AP_BattMonitor_Analog::AP_BattMonitor_Analog(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state) :
|
||
|
|
AP_BattMonitor_Backend(mon, instance, mon_state)
|
||
|
|
{
|
||
|
|
_volt_pin_analog_source = hal.analogin->channel(mon._volt_pin[instance]);
|
||
|
|
_curr_pin_analog_source = hal.analogin->channel(mon._curr_pin[instance]);
|
||
|
|
}
|
||
|
|
|
||
|
|
// read - read the voltage and current
|
||
|
|
void
|
||
|
|
AP_BattMonitor_Analog::read()
|
||
|
|
{
|
||
|
|
// this copes with changing the pin at runtime
|
||
|
|
_volt_pin_analog_source->set_pin(_mon._volt_pin[_state.instance]);
|
||
|
|
|
||
|
|
// get voltage
|
||
|
|
_state.voltage = _volt_pin_analog_source->voltage_average() * _mon._volt_multiplier[_state.instance];
|
||
|
|
|
||
|
|
// read current
|
||
|
|
if (_mon.has_current(_state.instance)) {
|
||
|
|
// calculate time since last current read
|
||
|
|
uint32_t tnow = hal.scheduler->micros();
|
||
|
|
float dt = tnow - _state.last_time_micros;
|
||
|
|
|
||
|
|
// this copes with changing the pin at runtime
|
||
|
|
_curr_pin_analog_source->set_pin(_mon._curr_pin[_state.instance]);
|
||
|
|
|
||
|
|
// read current
|
||
|
|
_state.current_amps = (_curr_pin_analog_source->voltage_average()-_mon._curr_amp_offset[_state.instance])*_mon._curr_amp_per_volt[_state.instance];
|
||
|
|
|
||
|
|
// update total current drawn since startup
|
||
|
|
if (_state.last_time_micros != 0 && dt < 2000000.0f) {
|
||
|
|
// .0002778 is 1/3600 (conversion to hours)
|
||
|
|
_state.current_total_mah += _state.current_amps * dt * 0.0000002778f;
|
||
|
|
}
|
||
|
|
|
||
|
|
// record time
|
||
|
|
_state.last_time_micros = tnow;
|
||
|
|
}
|
||
|
|
}
|