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https://github.com/ArduPilot/ardupilot
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BattMon_Analog: move analog features to new class
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Randy Mackay
parent
39dbf05c8f
commit
4d7df9ed26
49
libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
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49
libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Analog.h"
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extern const AP_HAL::HAL& hal;
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/// Constructor
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AP_BattMonitor_Analog::AP_BattMonitor_Analog(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state) :
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AP_BattMonitor_Backend(mon, instance, mon_state)
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{
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_volt_pin_analog_source = hal.analogin->channel(mon._volt_pin[instance]);
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_curr_pin_analog_source = hal.analogin->channel(mon._curr_pin[instance]);
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}
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// read - read the voltage and current
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void
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AP_BattMonitor_Analog::read()
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{
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// this copes with changing the pin at runtime
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_volt_pin_analog_source->set_pin(_mon._volt_pin[_state.instance]);
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// get voltage
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_state.voltage = _volt_pin_analog_source->voltage_average() * _mon._volt_multiplier[_state.instance];
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// read current
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if (_mon.has_current(_state.instance)) {
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// calculate time since last current read
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uint32_t tnow = hal.scheduler->micros();
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float dt = tnow - _state.last_time_micros;
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// this copes with changing the pin at runtime
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_curr_pin_analog_source->set_pin(_mon._curr_pin[_state.instance]);
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// read current
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_state.current_amps = (_curr_pin_analog_source->voltage_average()-_mon._curr_amp_offset[_state.instance])*_mon._curr_amp_per_volt[_state.instance];
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// update total current drawn since startup
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if (_state.last_time_micros != 0 && dt < 2000000.0f) {
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// .0002778 is 1/3600 (conversion to hours)
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_state.current_total_mah += _state.current_amps * dt * 0.0000002778f;
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}
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// record time
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_state.last_time_micros = tnow;
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}
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}
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105
libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
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105
libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AP_BATTMONITOR_ANALOG_H
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#define AP_BATTMONITOR_ANALOG_H
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_ADC_AnalogSource.h>
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Backend.h"
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// default pins and dividers
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define AP_BATT_VOLT_PIN 0 // Battery voltage on A0
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# define AP_BATT_CURR_PIN 1 // Battery current on A1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 3.56 // on-board APM1 voltage divider with a 3.9kOhm resistor
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define AP_BATT_VOLT_PIN 13 // APM2.5/2.6 with 3dr power module
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# define AP_BATT_CURR_PIN 12
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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// Flymaple board pin 20 is connected to the external battery supply
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// via a 24k/5.1k voltage divider. The schematic claims the divider is 25k/5k,
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// but the actual installed resistors are not so.
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// So the divider ratio is 5.70588 = (24000+5100)/5100
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# define AP_BATT_VOLT_PIN 20
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# define AP_BATT_CURR_PIN 19
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# define AP_BATT_VOLTDIVIDER_DEFAULT 5.70588
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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// px4
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# define AP_BATT_VOLT_PIN 100
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# define AP_BATT_CURR_PIN 101
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
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// pixhawk
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# define AP_BATT_VOLT_PIN 2
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# define AP_BATT_CURR_PIN 3
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define AP_BATT_VOLT_PIN 13
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# define AP_BATT_CURR_PIN 12
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
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# define AP_BATT_VOLT_PIN 10
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# define AP_BATT_CURR_PIN -1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
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# define AP_BATT_VOLT_PIN 10
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# define AP_BATT_CURR_PIN 11
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
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# define AP_BATT_VOLT_PIN 10
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# define AP_BATT_CURR_PIN 11
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
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# define AP_BATT_VOLT_PIN 10
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# define AP_BATT_CURR_PIN 11
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
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# define AP_BATT_VOLT_PIN 10
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# define AP_BATT_CURR_PIN -1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRHERO_V10)
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# define AP_BATT_VOLT_PIN 100
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# define AP_BATT_CURR_PIN 101
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#else
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# define AP_BATT_VOLT_PIN -1
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# define AP_BATT_CURR_PIN -1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
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#endif
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// Other values normally set directly by mission planner
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// # define AP_BATT_VOLTDIVIDER_DEFAULT 15.70 // Volt divider for AttoPilot 50V/90A sensor
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// # define AP_BATT_VOLTDIVIDER_DEFAULT 4.127 // Volt divider for AttoPilot 13.6V/45A sensor
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// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 27.32 // Amp/Volt for AttoPilot 50V/90A sensor
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// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 13.66 // Amp/Volt for AttoPilot 13.6V/45A sensor
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class AP_BattMonitor_Analog : public AP_BattMonitor_Backend
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{
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public:
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/// Constructor
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AP_BattMonitor_Analog(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state);
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/// Read the battery voltage and current. Should be called at 10hz
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void read();
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protected:
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AP_HAL::AnalogSource *_volt_pin_analog_source;
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AP_HAL::AnalogSource *_curr_pin_analog_source;
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};
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#endif // AP_BATTMONITOR_ANALOG_H
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