mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.8 KiB
C++
53 lines
1.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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_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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// always healthy
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_state.healthy = true;
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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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