ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp

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/// -*- 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]);
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// always healthy
_state.healthy = true;
}
// 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;
}
}