mirror of https://github.com/ArduPilot/ardupilot
116 lines
3.4 KiB
C++
116 lines
3.4 KiB
C++
#include "AP_BattMonitor_config.h"
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#if AP_BATTERY_SUM_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Sum.h"
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/*
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battery monitor that is the sum of other battery monitors after this one
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This can be used to combined other current/voltage sensors into a
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single backend
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*/
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_BattMonitor_Sum::var_info[] = {
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// Param indexes must be between 20 and 29 to avoid conflict with other battery monitor param tables loaded by pointer
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// @Param: SUM_MASK
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// @DisplayName: Battery Sum mask
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// @Description: 0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
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// @Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9
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// @User: Standard
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AP_GROUPINFO("SUM_MASK", 20, AP_BattMonitor_Sum, _sum_mask, 0),
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// Param indexes must be between 20 and 29 to avoid conflict with other battery monitor param tables loaded by pointer
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AP_GROUPEND
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};
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/// Constructor
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AP_BattMonitor_Sum::AP_BattMonitor_Sum(AP_BattMonitor &mon,
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AP_BattMonitor::BattMonitor_State &mon_state,
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AP_BattMonitor_Params ¶ms,
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uint8_t instance) :
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AP_BattMonitor_Backend(mon, mon_state, params),
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_instance(instance)
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{
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AP_Param::setup_object_defaults(this, var_info);
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_state.var_info = var_info;
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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_Sum::read()
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{
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float voltage_sum = 0;
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uint8_t voltage_count = 0;
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float current_sum = 0;
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uint8_t current_count = 0;
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float temperature_sum = 0.0;
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uint8_t temperature_count = 0;
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for (uint8_t i=0; i<_mon.num_instances(); i++) {
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if (i == _instance) {
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// never include self
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continue;
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}
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if ((_sum_mask == 0) && (i <= _instance)) {
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// sum of remaining, skip lower instances
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continue;
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}
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if ((_sum_mask != 0) && ((_sum_mask & 1U<<i) == 0)) {
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// mask param, skip if mask bit not set
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continue;
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}
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if (!_mon.healthy(i)) {
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continue;
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}
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voltage_sum += _mon.voltage(i);
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voltage_count++;
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float current;
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if (_mon.current_amps(current, i)) {
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current_sum += current;
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current_count++;
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}
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float temperature;
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if (_mon.get_temperature(temperature, i)) {
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temperature_sum += temperature;
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temperature_count++;
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}
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}
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const uint32_t tnow_us = AP_HAL::micros();
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const uint32_t dt_us = tnow_us - _state.last_time_micros;
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if (voltage_count > 0) {
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_state.voltage = voltage_sum / voltage_count;
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}
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if (current_count > 0) {
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_state.current_amps = current_sum;
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}
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if (temperature_count > 0) {
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_state.temperature = temperature_sum / temperature_count;
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_state.temperature_time = AP_HAL::millis();
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}
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update_consumed(_state, dt_us);
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_has_current = (current_count > 0);
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_has_temperature = (temperature_count > 0);
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_state.healthy = (voltage_count > 0);
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if (_state.healthy) {
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_state.last_time_micros = tnow_us;
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}
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}
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#endif // AP_BATTERY_SUM_ENABLED
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