ardupilot/libraries/AP_BattMonitor/AP_BattMonitor.h

144 lines
6.6 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef AP_BATTMONITOR_H
#define AP_BATTMONITOR_H
#include <inttypes.h>
#include <AP_Common.h>
#include <AP_Param.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h>
// battery monitor types
#define AP_BATT_MONITOR_DISABLED 0
#define AP_BATT_MONITOR_VOLTAGE_ONLY 3
#define AP_BATT_MONITOR_VOLTAGE_AND_CURRENT 4
// setup default mag orientation for each board type
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define AP_BATT_VOLT_PIN 0 // Battery voltage on A0
# define AP_BATT_CURR_PIN 1 // Battery current on A1
# define AP_BATT_VOLTDIVIDER_DEFAULT 3.56 // on-board APM1 voltage divider with a 3.9kOhm resistor
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define AP_BATT_VOLT_PIN 13 // APM2.5/2.6 with 3dr power module
# define AP_BATT_CURR_PIN 12
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif 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 5.70588
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#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 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#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 10.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define AP_BATT_VOLT_PIN 13
# define AP_BATT_CURR_PIN 12
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V4)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V5)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN 101
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRHERO_V1)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN 101
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#else
# define AP_BATT_VOLT_PIN -1
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#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
#define AP_BATT_CAPACITY_DEFAULT 3300
#define AP_BATT_LOW_VOLT_TIMEOUT_MS 10000 // low voltage of 10 seconds will cause battery_exhausted to return true
class AP_BattMonitor
{
public:
/// Constructor
AP_BattMonitor();
/// Initialize the battery monitor
void init();
/// Read the battery voltage and current. Should be called at 10hz
void read();
/// monitoring - returns whether we are monitoring voltage only or voltage and current
int8_t monitoring() const { return _monitoring; }
/// monitoring - returns whether we are monitoring voltage only or voltage and current
void set_monitoring(uint8_t mon) { _monitoring.set(mon); }
/// Battery voltage. Initialized to 99 to prevent low voltage events at startup
float voltage() const { return _voltage; }
/// Battery pack instantaneous currrent draw in amperes
float current_amps() const { return _current_amps; }
/// Total current drawn since start-up (Amp-hours)
float current_total_mah() const { return _current_total_mah; }
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
uint8_t capacity_remaining_pct() const;
/// exhausted - returns true if the voltage remains below the low_voltage for 10 seconds or remaining capacity falls below min_capacity
bool exhausted(float low_voltage, float min_capacity_mah);
static const struct AP_Param::GroupInfo var_info[];
protected:
/// parameters
AP_Int8 _monitoring; /// 0=disabled, 3=voltage only, 4=voltage and current
AP_Int8 _volt_pin; /// board pin used to measure battery voltage
AP_Int8 _curr_pin; /// board pin used to measure battery current
AP_Float _volt_multiplier; /// voltage on volt pin multiplied by this to calculate battery voltage
AP_Float _curr_amp_per_volt; /// voltage on current pin multiplied by this to calculate current in amps
AP_Float _curr_amp_offset; /// offset voltage that is subtracted from current pin before conversion to amps
AP_Int32 _pack_capacity; /// battery pack capacity less reserve in mAh
/// internal variables
float _voltage; /// last read voltage
float _current_amps; /// last read current drawn
float _current_total_mah; /// total current drawn since startup (Amp-hours)
uint32_t _last_time_micros; /// time when current was last read
uint32_t _low_voltage_start_ms; /// time when voltage dropped below the minimum
AP_HAL::AnalogSource *_volt_pin_analog_source;
AP_HAL::AnalogSource *_curr_pin_analog_source;
};
#endif // AP_BATTMONITOR_H