Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 12:14:10 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_BattMonitor: Handle allocating too many analog channels

Browse Source 
If you over allocate the number of analog channels this results in a
crash. It's easy to trigger this if you have voltage only monitors as we
still eat up a current input channel, regarless of if we use it. There
are only 16 channels at this time on ChibiOS, so if you have 9 voltage
only battery monitors you are out.

This PR improves that situation by only allocating channels when needed,
and in the case where we run out we now set a ConfigError, which on a
flight controller is much more friendly then a instant segfault the
moment we read a battery monitor. NOTE: on AP_Periph this takes the
node off the bus, rather then just sitting in the bootloader. This was
consideted acceptable as the current behaviour was to segfault and then
sit in the bootloader, unless you made new firmware that limited the
number of channels allocated it wasn't possible to recover in this
situation anyways.
This commit is contained in:
Michael du Breuil 2024-12-19 13:46:11 -07:00 committed by Randy Mackay
parent 54e3d74b51
commit 5b961891ee
2 changed files with 12 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
View File

@ -5,6 +5,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "AP_BattMonitor_Analog.h" #include "AP_BattMonitor_Analog.h"
@ -88,7 +89,15 @@ AP_BattMonitor_Analog::AP_BattMonitor_Analog(AP_BattMonitor &mon,
_state.var_info = var_info; _state.var_info = var_info;
_volt_pin_analog_source = hal.analogin->channel(_volt_pin); _volt_pin_analog_source = hal.analogin->channel(_volt_pin);
_curr_pin_analog_source = hal.analogin->channel(_curr_pin); if (_volt_pin_analog_source == nullptr) {
AP_BoardConfig::config_error("No analog channels for battery %d", mon_state.instance);
}
if ((AP_BattMonitor::Type)_params._type.get() == AP_BattMonitor::Type::ANALOG_VOLTAGE_AND_CURRENT) {
_curr_pin_analog_source = hal.analogin->channel(_curr_pin);
if (_curr_pin_analog_source == nullptr) {
AP_BoardConfig::config_error("No analog channels for battery %d", mon_state.instance);
}
}
} }
@ -124,7 +133,8 @@ AP_BattMonitor_Analog::read()
/// return true if battery provides current info /// return true if battery provides current info
bool AP_BattMonitor_Analog::has_current() const bool AP_BattMonitor_Analog::has_current() const
{ {
return ((AP_BattMonitor::Type)_params._type.get() == AP_BattMonitor::Type::ANALOG_VOLTAGE_AND_CURRENT); return (_curr_pin_analog_source != nullptr) &&
((AP_BattMonitor::Type)_params._type.get() == AP_BattMonitor::Type::ANALOG_VOLTAGE_AND_CURRENT);
} }
#endif // AP_BATTERY_ANALOG_ENABLED #endif // AP_BATTERY_ANALOG_ENABLED

3
libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.cpp
View File

@ -59,9 +59,6 @@ AP_BattMonitor_Synthetic_Current::read()
const uint32_t tnow = AP_HAL::micros(); const uint32_t tnow = AP_HAL::micros();
const uint32_t dt_us = tnow - _state.last_time_micros; const uint32_t dt_us = tnow - _state.last_time_micros;
// this copes with changing the pin at runtime
_state.healthy &= _curr_pin_analog_source->set_pin(_curr_pin);
// read current // read current
_state.current_amps = ((_state.voltage/_max_voltage)*sq(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)) * 0.0001 * _curr_amp_per_volt) + _curr_amp_offset ; _state.current_amps = ((_state.voltage/_max_voltage)*sq(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)) * 0.0001 * _curr_amp_per_volt) + _curr_amp_offset ;