mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
5e61e4cdc5
This is an ADC extender based on I2C which is used to read the current and voltage. Enable AD7091R5 in config.h which was reserved previously
1091 lines
36 KiB
C++
1091 lines
36 KiB
C++
#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Analog.h"
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#include "AP_BattMonitor_SMBus.h"
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#include "AP_BattMonitor_SMBus_Solo.h"
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#include "AP_BattMonitor_SMBus_Generic.h"
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#include "AP_BattMonitor_SMBus_Maxell.h"
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#include "AP_BattMonitor_SMBus_Rotoye.h"
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#include "AP_BattMonitor_Bebop.h"
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#include "AP_BattMonitor_ESC.h"
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#include "AP_BattMonitor_SMBus_SUI.h"
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#include "AP_BattMonitor_SMBus_NeoDesign.h"
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#include "AP_BattMonitor_Sum.h"
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#include "AP_BattMonitor_FuelFlow.h"
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#include "AP_BattMonitor_FuelLevel_PWM.h"
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#include "AP_BattMonitor_Generator.h"
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#include "AP_BattMonitor_EFI.h"
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#include "AP_BattMonitor_INA2xx.h"
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#include "AP_BattMonitor_INA239.h"
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#include "AP_BattMonitor_LTC2946.h"
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#include "AP_BattMonitor_Torqeedo.h"
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#include "AP_BattMonitor_FuelLevel_Analog.h"
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#include "AP_BattMonitor_Synthetic_Current.h"
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#include "AP_BattMonitor_AD7091R5.h"
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#include <AP_HAL/AP_HAL.h>
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#if HAL_ENABLE_DRONECAN_DRIVERS
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#include "AP_BattMonitor_DroneCAN.h"
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#endif
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_Logger/AP_Logger.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Notify/AP_Notify.h>
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extern const AP_HAL::HAL& hal;
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AP_BattMonitor *AP_BattMonitor::_singleton;
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const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
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// 0 - 18, 20- 22 used by old parameter indexes
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// Monitor 1
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// @Group: _
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[0], "_", 23, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: _
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: _
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: _
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: _
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: _
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: _
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: _
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[0], "_", 41, AP_BattMonitor, backend_var_info[0]),
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#if AP_BATT_MONITOR_MAX_INSTANCES > 1
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// @Group: 2_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[1], "2_", 24, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: 2_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: 2_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: 2_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: 2_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: 2_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: 2_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: 2_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[1], "2_", 42, AP_BattMonitor, backend_var_info[1]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 2
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// @Group: 3_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[2], "3_", 25, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: 3_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: 3_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: 3_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: 3_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: 3_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: 3_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: 3_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[2], "3_", 43, AP_BattMonitor, backend_var_info[2]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 3
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// @Group: 4_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[3], "4_", 26, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: 4_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: 4_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: 4_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: 4_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: 4_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: 4_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: 4_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[3], "4_", 44, AP_BattMonitor, backend_var_info[3]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 4
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// @Group: 5_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[4], "5_", 27, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: 5_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: 5_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: 5_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: 5_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: 5_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: 5_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: 5_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[4], "5_", 45, AP_BattMonitor, backend_var_info[4]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 5
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// @Group: 6_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[5], "6_", 28, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: 6_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: 6_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: 6_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: 6_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: 6_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: 6_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: 6_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[5], "6_", 46, AP_BattMonitor, backend_var_info[5]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 6
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// @Group: 7_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[6], "7_", 29, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: 7_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: 7_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: 7_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: 7_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: 7_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: 7_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: 7_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[6], "7_", 47, AP_BattMonitor, backend_var_info[6]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 7
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// @Group: 8_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[7], "8_", 30, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: 8_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: 8_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: 8_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: 8_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: 8_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: 8_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: 8_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[7], "8_", 48, AP_BattMonitor, backend_var_info[7]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 8
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// @Group: 9_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[8], "9_", 31, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: 9_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: 9_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: 9_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: 9_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: 9_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: 9_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: 9_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[8], "9_", 49, AP_BattMonitor, backend_var_info[8]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 9
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// @Group: A_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[9], "A_", 32, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: A_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: A_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: A_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: A_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: A_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: A_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: A_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[9], "A_", 50, AP_BattMonitor, backend_var_info[9]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 10
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// @Group: B_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[10], "B_", 33, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: B_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: B_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: B_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: B_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: B_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: B_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: B_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[10], "B_", 51, AP_BattMonitor, backend_var_info[10]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 11
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// @Group: C_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[11], "C_", 34, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: C_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: C_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: C_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: C_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: C_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: C_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: C_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[11], "C_", 52, AP_BattMonitor, backend_var_info[11]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 12
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// @Group: D_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[12], "D_", 35, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: D_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: D_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: D_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: D_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: D_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: D_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: D_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[12], "D_", 53, AP_BattMonitor, backend_var_info[12]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 13
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// @Group: E_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[13], "E_", 36, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: E_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: E_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: E_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: E_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: E_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: E_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: E_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[13], "E_", 54, AP_BattMonitor, backend_var_info[13]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 14
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// @Group: F_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[14], "F_", 37, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: F_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: F_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: F_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: F_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: F_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: F_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: F_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[14], "F_", 55, AP_BattMonitor, backend_var_info[14]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 15
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// @Group: G_
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// @Path: AP_BattMonitor_Params.cpp
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AP_SUBGROUPINFO(_params[15], "G_", 38, AP_BattMonitor, AP_BattMonitor_Params),
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// @Group: G_
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// @Path: AP_BattMonitor_Analog.cpp
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// @Group: G_
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// @Path: AP_BattMonitor_SMBus.cpp
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// @Group: G_
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// @Path: AP_BattMonitor_Sum.cpp
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// @Group: G_
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// @Path: AP_BattMonitor_DroneCAN.cpp
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// @Group: G_
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// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
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// @Group: G_
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// @Path: AP_BattMonitor_Synthetic_Current.cpp
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// @Group: G_
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// @Path: AP_BattMonitor_INA2xx.cpp
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AP_SUBGROUPVARPTR(drivers[15], "G_", 56, AP_BattMonitor, backend_var_info[15]),
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#endif
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#if AP_BATT_MONITOR_MAX_INSTANCES > 16
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#error "AP_BATT_MONITOR_MAX_INSTANCES too large, reset_remaining_mask() will cause an assert above 16"
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#endif
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AP_GROUPEND
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};
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const AP_Param::GroupInfo *AP_BattMonitor::backend_var_info[AP_BATT_MONITOR_MAX_INSTANCES];
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// Default constructor.
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// Note that the Vector/Matrix constructors already implicitly zero
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// their values.
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//
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AP_BattMonitor::AP_BattMonitor(uint32_t log_battery_bit, battery_failsafe_handler_fn_t battery_failsafe_handler_fn, const int8_t *failsafe_priorities) :
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_log_battery_bit(log_battery_bit),
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_battery_failsafe_handler_fn(battery_failsafe_handler_fn),
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_failsafe_priorities(failsafe_priorities)
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{
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AP_Param::setup_object_defaults(this, var_info);
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_BattMonitor must be singleton");
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}
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_singleton = this;
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}
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// init - instantiate the battery monitors
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void
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AP_BattMonitor::init()
|
|
{
|
|
// check init has not been called before
|
|
if (_num_instances != 0) {
|
|
return;
|
|
}
|
|
|
|
_highest_failsafe_priority = INT8_MAX;
|
|
|
|
#ifdef HAL_BATT_MONITOR_DEFAULT
|
|
_params[0]._type.set_default(int8_t(HAL_BATT_MONITOR_DEFAULT));
|
|
#endif
|
|
#ifdef HAL_BATT2_MONITOR_DEFAULT
|
|
_params[1]._type.set_default(int8_t(HAL_BATT2_MONITOR_DEFAULT));
|
|
#endif
|
|
|
|
// create each instance
|
|
for (uint8_t instance=0; instance<AP_BATT_MONITOR_MAX_INSTANCES; instance++) {
|
|
// clear out the cell voltages
|
|
memset(&state[instance].cell_voltages, 0xFF, sizeof(cells));
|
|
state[instance].instance = instance;
|
|
|
|
switch (get_type(instance)) {
|
|
#if AP_BATTERY_ANALOG_ENABLED
|
|
case Type::ANALOG_VOLTAGE_ONLY:
|
|
case Type::ANALOG_VOLTAGE_AND_CURRENT:
|
|
drivers[instance] = new AP_BattMonitor_Analog(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_SMBUS_SOLO_ENABLED
|
|
case Type::SOLO:
|
|
drivers[instance] = new AP_BattMonitor_SMBus_Solo(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_SMBUS_GENERIC_ENABLED
|
|
case Type::SMBus_Generic:
|
|
drivers[instance] = new AP_BattMonitor_SMBus_Generic(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_SMBUS_SUI_ENABLED
|
|
case Type::SUI3:
|
|
drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 3);
|
|
break;
|
|
case Type::SUI6:
|
|
drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 6);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_SMBUS_MAXELL_ENABLED
|
|
case Type::MAXELL:
|
|
drivers[instance] = new AP_BattMonitor_SMBus_Maxell(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_SMBUS_ROTOYE_ENABLED
|
|
case Type::Rotoye:
|
|
drivers[instance] = new AP_BattMonitor_SMBus_Rotoye(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_SMBUS_NEODESIGN_ENABLED
|
|
case Type::NeoDesign:
|
|
drivers[instance] = new AP_BattMonitor_SMBus_NeoDesign(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_BEBOP_ENABLED
|
|
case Type::BEBOP:
|
|
drivers[instance] = new AP_BattMonitor_Bebop(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED
|
|
case Type::UAVCAN_BatteryInfo:
|
|
drivers[instance] = new AP_BattMonitor_DroneCAN(*this, state[instance], AP_BattMonitor_DroneCAN::UAVCAN_BATTERY_INFO, _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_ESC_ENABLED
|
|
case Type::BLHeliESC:
|
|
drivers[instance] = new AP_BattMonitor_ESC(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_SUM_ENABLED
|
|
case Type::Sum:
|
|
drivers[instance] = new AP_BattMonitor_Sum(*this, state[instance], _params[instance], instance);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_FUELFLOW_ENABLED
|
|
case Type::FuelFlow:
|
|
drivers[instance] = new AP_BattMonitor_FuelFlow(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif // AP_BATTERY_FUELFLOW_ENABLED
|
|
#if AP_BATTERY_FUELLEVEL_PWM_ENABLED
|
|
case Type::FuelLevel_PWM:
|
|
drivers[instance] = new AP_BattMonitor_FuelLevel_PWM(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif // AP_BATTERY_FUELLEVEL_PWM_ENABLED
|
|
#if AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
|
|
case Type::FuelLevel_Analog:
|
|
drivers[instance] = new AP_BattMonitor_FuelLevel_Analog(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif // AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
|
|
#if HAL_GENERATOR_ENABLED
|
|
case Type::GENERATOR_ELEC:
|
|
drivers[instance] = new AP_BattMonitor_Generator_Elec(*this, state[instance], _params[instance]);
|
|
break;
|
|
case Type::GENERATOR_FUEL:
|
|
drivers[instance] = new AP_BattMonitor_Generator_FuelLevel(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif // HAL_GENERATOR_ENABLED
|
|
#if AP_BATTERY_INA2XX_ENABLED
|
|
case Type::INA2XX:
|
|
drivers[instance] = new AP_BattMonitor_INA2XX(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_LTC2946_ENABLED
|
|
case Type::LTC2946:
|
|
drivers[instance] = new AP_BattMonitor_LTC2946(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if HAL_TORQEEDO_ENABLED
|
|
case Type::Torqeedo:
|
|
drivers[instance] = new AP_BattMonitor_Torqeedo(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
|
|
case Type::Analog_Volt_Synthetic_Current:
|
|
drivers[instance] = new AP_BattMonitor_Synthetic_Current(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_INA239_ENABLED
|
|
case Type::INA239_SPI:
|
|
drivers[instance] = new AP_BattMonitor_INA239(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif
|
|
#if AP_BATTERY_EFI_ENABLED
|
|
case Type::EFI:
|
|
drivers[instance] = new AP_BattMonitor_EFI(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif // AP_BATTERY_EFI_ENABLED
|
|
#if AP_BATTERY_AD7091R5_ENABLED
|
|
case Type::AD7091R5:
|
|
drivers[instance] = new AP_BattMonitor_AD7091R5(*this, state[instance], _params[instance]);
|
|
break;
|
|
#endif// AP_BATTERY_AD7091R5_ENABLED
|
|
case Type::NONE:
|
|
default:
|
|
break;
|
|
}
|
|
|
|
// if the backend has some local parameters then make those available in the tree
|
|
if (drivers[instance] && state[instance].var_info) {
|
|
backend_var_info[instance] = state[instance].var_info;
|
|
AP_Param::load_object_from_eeprom(drivers[instance], backend_var_info[instance]);
|
|
|
|
// param count could have changed
|
|
AP_Param::invalidate_count();
|
|
}
|
|
|
|
// call init function for each backend
|
|
if (drivers[instance] != nullptr) {
|
|
drivers[instance]->init();
|
|
// _num_instances is actually the index for looping over instances
|
|
// the user may have BATT_MONITOR=0 and BATT2_MONITOR=7, in which case
|
|
// there will be a gap, but as we always check for drivers[instances] being nullptr
|
|
// this is safe
|
|
_num_instances = instance + 1;
|
|
|
|
// Convert the old analog & Bus parameters to the new dynamic parameter groups
|
|
convert_dynamic_param_groups(instance);
|
|
}
|
|
}
|
|
}
|
|
|
|
void AP_BattMonitor::convert_dynamic_param_groups(uint8_t instance)
|
|
{
|
|
AP_Param::ConversionInfo info;
|
|
if (!AP_Param::find_top_level_key_by_pointer(this, info.old_key)) {
|
|
return;
|
|
}
|
|
|
|
char param_prefix[6] {};
|
|
char param_name[17] {};
|
|
info.new_name = param_name;
|
|
|
|
const uint8_t param_instance = instance + 1;
|
|
// first battmonitor does not have '1' in the param name
|
|
if(param_instance == 1) {
|
|
hal.util->snprintf(param_prefix, sizeof(param_prefix), "BATT");
|
|
} else {
|
|
hal.util->snprintf(param_prefix, sizeof(param_prefix), "BATT%X", param_instance);
|
|
}
|
|
param_prefix[sizeof(param_prefix)-1] = '\0';
|
|
|
|
hal.util->snprintf(param_name, sizeof(param_name), "%s_%s", param_prefix, "MONITOR");
|
|
param_name[sizeof(param_name)-1] = '\0';
|
|
|
|
// Find the index of the BATTn_MONITOR which is not moving to index the moving parameters off from
|
|
AP_Param::ParamToken token = AP_Param::ParamToken {};
|
|
ap_var_type type;
|
|
AP_Param* param = AP_Param::find_by_name(param_name, &type, &token);
|
|
const uint8_t battmonitor_index = 1;
|
|
if( param == nullptr) {
|
|
// BATTn_MONITOR not found
|
|
return;
|
|
}
|
|
|
|
const struct convert_table {
|
|
uint32_t old_group_element;
|
|
ap_var_type type;
|
|
const char* new_name;
|
|
} conversion_table[] = {
|
|
// PARAMETER_CONVERSION - Added: Aug-2021
|
|
{ 2, AP_PARAM_INT8, "VOLT_PIN" },
|
|
{ 3, AP_PARAM_INT8, "CURR_PIN" },
|
|
{ 4, AP_PARAM_FLOAT, "VOLT_MULT" },
|
|
{ 5, AP_PARAM_FLOAT, "AMP_PERVLT"},
|
|
{ 6, AP_PARAM_FLOAT, "AMP_OFFSET"},
|
|
{ 20, AP_PARAM_INT8, "I2C_BUS" },
|
|
};
|
|
|
|
for (const auto & elem : conversion_table) {
|
|
info.old_group_element = token.group_element + ((elem.old_group_element - battmonitor_index) * 64);
|
|
info.type = elem.type;
|
|
|
|
hal.util->snprintf(param_name, sizeof(param_name), "%s_%s", param_prefix, elem.new_name);
|
|
AP_Param::convert_old_parameter(&info, 1.0f, 0);
|
|
}
|
|
}
|
|
|
|
// read - For all active instances read voltage & current; log BAT, BCL, POWR
|
|
void AP_BattMonitor::read()
|
|
{
|
|
#if HAL_LOGGING_ENABLED
|
|
AP_Logger *logger = AP_Logger::get_singleton();
|
|
if (logger != nullptr && logger->should_log(_log_battery_bit)) {
|
|
logger->Write_Power();
|
|
}
|
|
#endif
|
|
|
|
for (uint8_t i=0; i<_num_instances; i++) {
|
|
if (drivers[i] != nullptr && get_type(i) != Type::NONE) {
|
|
drivers[i]->read();
|
|
drivers[i]->update_resistance_estimate();
|
|
|
|
#if AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED
|
|
drivers[i]->update_esc_telem_outbound();
|
|
#endif
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
if (logger != nullptr && logger->should_log(_log_battery_bit)) {
|
|
const uint64_t time_us = AP_HAL::micros64();
|
|
drivers[i]->Log_Write_BAT(i, time_us);
|
|
drivers[i]->Log_Write_BCL(i, time_us);
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
check_failsafes();
|
|
|
|
checkPoweringOff();
|
|
}
|
|
|
|
// healthy - returns true if monitor is functioning
|
|
bool AP_BattMonitor::healthy(uint8_t instance) const {
|
|
return instance < _num_instances && state[instance].healthy;
|
|
}
|
|
|
|
/// voltage - returns battery voltage in volts
|
|
float AP_BattMonitor::voltage(uint8_t instance) const
|
|
{
|
|
if (instance < _num_instances) {
|
|
return state[instance].voltage;
|
|
} else {
|
|
return 0.0f;
|
|
}
|
|
}
|
|
|
|
/// get voltage with sag removed (based on battery current draw and resistance)
|
|
/// this will always be greater than or equal to the raw voltage
|
|
float AP_BattMonitor::voltage_resting_estimate(uint8_t instance) const
|
|
{
|
|
if (instance < _num_instances && drivers[instance] != nullptr) {
|
|
return drivers[instance]->voltage_resting_estimate();
|
|
} else {
|
|
return 0.0f;
|
|
}
|
|
}
|
|
|
|
/// voltage - returns battery voltage in volts for GCS, may be resting voltage if option enabled
|
|
float AP_BattMonitor::gcs_voltage(uint8_t instance) const
|
|
{
|
|
if (instance >= _num_instances || drivers[instance] == nullptr) {
|
|
return 0.0f;
|
|
}
|
|
if (drivers[instance]->option_is_set(AP_BattMonitor_Params::Options::GCS_Resting_Voltage)) {
|
|
return voltage_resting_estimate(instance);
|
|
}
|
|
return state[instance].voltage;
|
|
}
|
|
|
|
/// current_amps - returns the instantaneous current draw in amperes
|
|
bool AP_BattMonitor::current_amps(float ¤t, uint8_t instance) const {
|
|
if ((instance < _num_instances) && (drivers[instance] != nullptr) && drivers[instance]->has_current()) {
|
|
current = state[instance].current_amps;
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
/// consumed_mah - returns total current drawn since start-up in milliampere.hours
|
|
bool AP_BattMonitor::consumed_mah(float &mah, const uint8_t instance) const {
|
|
if ((instance < _num_instances) && (drivers[instance] != nullptr) && drivers[instance]->has_current()) {
|
|
const float consumed_mah = state[instance].consumed_mah;
|
|
if (isnan(consumed_mah)) {
|
|
return false;
|
|
}
|
|
mah = consumed_mah;
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
/// consumed_wh - returns energy consumed since start-up in Watt.hours
|
|
bool AP_BattMonitor::consumed_wh(float &wh, const uint8_t instance) const {
|
|
if (instance < _num_instances && drivers[instance] != nullptr && drivers[instance]->has_consumed_energy()) {
|
|
wh = state[instance].consumed_wh;
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
/// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
|
|
bool AP_BattMonitor::capacity_remaining_pct(uint8_t &percentage, uint8_t instance) const
|
|
{
|
|
if (instance < _num_instances && drivers[instance] != nullptr) {
|
|
return drivers[instance]->capacity_remaining_pct(percentage);
|
|
}
|
|
return false;
|
|
}
|
|
|
|
/// time_remaining - returns remaining battery time
|
|
bool AP_BattMonitor::time_remaining(uint32_t &seconds, uint8_t instance) const
|
|
{
|
|
if (instance < _num_instances && drivers[instance] != nullptr && state[instance].has_time_remaining) {
|
|
seconds = state[instance].time_remaining;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
/// pack_capacity_mah - returns the capacity of the battery pack in mAh when the pack is full
|
|
int32_t AP_BattMonitor::pack_capacity_mah(uint8_t instance) const
|
|
{
|
|
if (instance < AP_BATT_MONITOR_MAX_INSTANCES) {
|
|
return _params[instance]._pack_capacity;
|
|
} else {
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
void AP_BattMonitor::check_failsafes(void)
|
|
{
|
|
if (hal.util->get_soft_armed()) {
|
|
for (uint8_t i = 0; i < _num_instances; i++) {
|
|
if (drivers[i] == nullptr) {
|
|
continue;
|
|
}
|
|
|
|
const Failsafe type = drivers[i]->update_failsafes();
|
|
if (type <= state[i].failsafe) {
|
|
continue;
|
|
}
|
|
|
|
int8_t action = 0;
|
|
const char *type_str = nullptr;
|
|
switch (type) {
|
|
case Failsafe::None:
|
|
continue; // should not have been called in this case
|
|
case Failsafe::Low:
|
|
action = _params[i]._failsafe_low_action;
|
|
type_str = "low";
|
|
break;
|
|
case Failsafe::Critical:
|
|
action = _params[i]._failsafe_critical_action;
|
|
type_str = "critical";
|
|
break;
|
|
}
|
|
|
|
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Battery %d is %s %.2fV used %.0f mAh", i + 1, type_str,
|
|
(double)voltage(i), (double)state[i].consumed_mah);
|
|
_has_triggered_failsafe = true;
|
|
#ifndef HAL_BUILD_AP_PERIPH
|
|
AP_Notify::flags.failsafe_battery = true;
|
|
#endif
|
|
state[i].failsafe = type;
|
|
|
|
// map the desired failsafe action to a priority level
|
|
int8_t priority = 0;
|
|
if (_failsafe_priorities != nullptr) {
|
|
while (_failsafe_priorities[priority] != -1) {
|
|
if (_failsafe_priorities[priority] == action) {
|
|
break;
|
|
}
|
|
priority++;
|
|
}
|
|
|
|
}
|
|
|
|
// trigger failsafe if the action was equal or higher priority
|
|
// It's valid to retrigger the same action if a different battery provoked the event
|
|
if (priority <= _highest_failsafe_priority) {
|
|
_battery_failsafe_handler_fn(type_str, action);
|
|
_highest_failsafe_priority = priority;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// return true if any battery is pushing too much power
|
|
bool AP_BattMonitor::overpower_detected() const
|
|
{
|
|
bool result = false;
|
|
for (uint8_t instance = 0; instance < _num_instances; instance++) {
|
|
result |= overpower_detected(instance);
|
|
}
|
|
return result;
|
|
}
|
|
|
|
bool AP_BattMonitor::overpower_detected(uint8_t instance) const
|
|
{
|
|
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
|
|
if (instance < _num_instances && _params[instance]._watt_max > 0) {
|
|
float power = state[instance].current_amps * state[instance].voltage;
|
|
return state[instance].healthy && (power > _params[instance]._watt_max);
|
|
}
|
|
return false;
|
|
#else
|
|
return false;
|
|
#endif
|
|
}
|
|
|
|
bool AP_BattMonitor::has_cell_voltages(const uint8_t instance) const
|
|
{
|
|
if (instance < _num_instances && drivers[instance] != nullptr) {
|
|
return drivers[instance]->has_cell_voltages();
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
// return the current cell voltages, returns the first monitor instances cells if the instance is out of range
|
|
const AP_BattMonitor::cells & AP_BattMonitor::get_cell_voltages(const uint8_t instance) const
|
|
{
|
|
if (instance >= AP_BATT_MONITOR_MAX_INSTANCES) {
|
|
return state[AP_BATT_PRIMARY_INSTANCE].cell_voltages;
|
|
} else {
|
|
return state[instance].cell_voltages;
|
|
}
|
|
}
|
|
|
|
// get once cell voltage (for scripting)
|
|
bool AP_BattMonitor::get_cell_voltage(uint8_t instance, uint8_t cell, float &voltage) const
|
|
{
|
|
if (!has_cell_voltages(instance) ||
|
|
cell >= AP_BATT_MONITOR_CELLS_MAX) {
|
|
return false;
|
|
}
|
|
const auto &cell_voltages = get_cell_voltages(instance);
|
|
const uint16_t voltage_mv = cell_voltages.cells[cell];
|
|
if (voltage_mv == 0 || voltage_mv == UINT16_MAX) {
|
|
// UINT16_MAX is used as invalid indicator
|
|
return false;
|
|
}
|
|
voltage = voltage_mv*0.001;
|
|
return true;
|
|
}
|
|
|
|
// returns true if there is a temperature reading
|
|
bool AP_BattMonitor::get_temperature(float &temperature, const uint8_t instance) const
|
|
{
|
|
if (instance >= _num_instances || drivers[instance] == nullptr) {
|
|
return false;
|
|
}
|
|
|
|
return drivers[instance]->get_temperature(temperature);
|
|
}
|
|
|
|
#if AP_TEMPERATURE_SENSOR_ENABLED
|
|
// return true when successfully setting a battery temperature from an external source by instance
|
|
bool AP_BattMonitor::set_temperature(const float temperature, const uint8_t instance)
|
|
{
|
|
if (instance >= _num_instances || drivers[instance] == nullptr) {
|
|
return false;
|
|
}
|
|
state[instance].temperature_external = temperature;
|
|
state[instance].temperature_external_use = true;
|
|
return true;
|
|
}
|
|
|
|
// return true when successfully setting a battery temperature from an external source by serial_number
|
|
bool AP_BattMonitor::set_temperature_by_serial_number(const float temperature, const int32_t serial_number)
|
|
{
|
|
bool success = false;
|
|
for (uint8_t i = 0; i < _num_instances; i++) {
|
|
if (drivers[i] != nullptr && get_serial_number(i) == serial_number) {
|
|
success |= set_temperature(temperature, i);
|
|
}
|
|
}
|
|
return success;
|
|
}
|
|
#endif // AP_TEMPERATURE_SENSOR_ENABLED
|
|
|
|
// return true if cycle count can be provided and fills in cycles argument
|
|
bool AP_BattMonitor::get_cycle_count(uint8_t instance, uint16_t &cycles) const
|
|
{
|
|
if (instance >= _num_instances || (drivers[instance] == nullptr)) {
|
|
return false;
|
|
}
|
|
return drivers[instance]->get_cycle_count(cycles);
|
|
}
|
|
|
|
bool AP_BattMonitor::arming_checks(size_t buflen, char *buffer) const
|
|
{
|
|
char temp_buffer[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
|
|
|
|
for (uint8_t i = 0; i < _num_instances; i++) {
|
|
if (drivers[i] != nullptr && !(drivers[i]->arming_checks(temp_buffer, sizeof(temp_buffer)))) {
|
|
hal.util->snprintf(buffer, buflen, "Battery %d %s", i + 1, temp_buffer);
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
// Check's each smart battery instance for its powering off state and broadcasts notifications
|
|
void AP_BattMonitor::checkPoweringOff(void)
|
|
{
|
|
for (uint8_t i = 0; i < _num_instances; i++) {
|
|
if (state[i].is_powering_off && !state[i].powerOffNotified) {
|
|
#ifndef HAL_BUILD_AP_PERIPH
|
|
// Set the AP_Notify flag, which plays the power off tones
|
|
AP_Notify::flags.powering_off = true;
|
|
#endif
|
|
|
|
// Send a Mavlink broadcast announcing the shutdown
|
|
#if HAL_GCS_ENABLED
|
|
mavlink_command_long_t cmd_msg{};
|
|
cmd_msg.command = MAV_CMD_POWER_OFF_INITIATED;
|
|
cmd_msg.param1 = i+1;
|
|
GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&cmd_msg, sizeof(cmd_msg));
|
|
gcs().send_text(MAV_SEVERITY_WARNING, "Vehicle %d battery %d is powering off", mavlink_system.sysid, i+1);
|
|
#endif
|
|
|
|
// only send this once
|
|
state[i].powerOffNotified = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
reset battery remaining percentage for batteries that integrate to
|
|
calculate percentage remaining
|
|
*/
|
|
bool AP_BattMonitor::reset_remaining_mask(uint16_t battery_mask, float percentage)
|
|
{
|
|
static_assert(AP_BATT_MONITOR_MAX_INSTANCES <= 16, "More batteries are enabled then can be reset");
|
|
bool ret = true;
|
|
Failsafe highest_failsafe = Failsafe::None;
|
|
for (uint8_t i = 0; i < _num_instances; i++) {
|
|
if ((1U<<i) & battery_mask) {
|
|
if (drivers[i] != nullptr) {
|
|
ret &= drivers[i]->reset_remaining(percentage);
|
|
} else {
|
|
ret = false;
|
|
}
|
|
}
|
|
if (state[i].failsafe > highest_failsafe) {
|
|
highest_failsafe = state[i].failsafe;
|
|
}
|
|
}
|
|
|
|
// If all backends are not in failsafe then set overall failsafe state
|
|
if (highest_failsafe == Failsafe::None) {
|
|
_highest_failsafe_priority = INT8_MAX;
|
|
_has_triggered_failsafe = false;
|
|
// and reset notify flag
|
|
AP_Notify::flags.failsafe_battery = false;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
// Returns the mavlink charge state. The following mavlink charge states are not used
|
|
// MAV_BATTERY_CHARGE_STATE_EMERGENCY , MAV_BATTERY_CHARGE_STATE_FAILED
|
|
// MAV_BATTERY_CHARGE_STATE_UNHEALTHY, MAV_BATTERY_CHARGE_STATE_CHARGING
|
|
MAV_BATTERY_CHARGE_STATE AP_BattMonitor::get_mavlink_charge_state(const uint8_t instance) const
|
|
{
|
|
if (instance >= _num_instances) {
|
|
return MAV_BATTERY_CHARGE_STATE_UNDEFINED;
|
|
}
|
|
|
|
switch (state[instance].failsafe) {
|
|
|
|
case Failsafe::None:
|
|
if (get_mavlink_fault_bitmask(instance) != 0 || !healthy()) {
|
|
return MAV_BATTERY_CHARGE_STATE_UNHEALTHY;
|
|
}
|
|
return MAV_BATTERY_CHARGE_STATE_OK;
|
|
|
|
case Failsafe::Low:
|
|
return MAV_BATTERY_CHARGE_STATE_LOW;
|
|
|
|
case Failsafe::Critical:
|
|
return MAV_BATTERY_CHARGE_STATE_CRITICAL;
|
|
}
|
|
|
|
// Should not reach this
|
|
return MAV_BATTERY_CHARGE_STATE_UNDEFINED;
|
|
}
|
|
|
|
// Returns mavlink fault state
|
|
uint32_t AP_BattMonitor::get_mavlink_fault_bitmask(const uint8_t instance) const
|
|
{
|
|
if (instance >= _num_instances || drivers[instance] == nullptr) {
|
|
return 0;
|
|
}
|
|
return drivers[instance]->get_mavlink_fault_bitmask();
|
|
}
|
|
|
|
// Enable/Disable (Turn on/off) MPPT power to all backends who are MPPTs
|
|
void AP_BattMonitor::MPPT_set_powered_state_to_all(const bool power_on)
|
|
{
|
|
for (uint8_t i=0; i < _num_instances; i++) {
|
|
MPPT_set_powered_state(i, power_on);
|
|
}
|
|
}
|
|
|
|
// Enable/Disable (Turn on/off) MPPT power. When disabled, the MPPT does not
|
|
// supply energy to the system regardless if it's capable to or not. When enabled
|
|
// it will supply energy if available.
|
|
void AP_BattMonitor::MPPT_set_powered_state(const uint8_t instance, const bool power_on)
|
|
{
|
|
if (instance < _num_instances) {
|
|
drivers[instance]->mppt_set_powered_state(power_on);
|
|
}
|
|
}
|
|
|
|
/*
|
|
check that all configured battery monitors are healthy
|
|
*/
|
|
bool AP_BattMonitor::healthy() const
|
|
{
|
|
for (uint8_t i=0; i< _num_instances; i++) {
|
|
if (get_type(i) != Type::NONE && !healthy(i)) {
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
namespace AP {
|
|
|
|
AP_BattMonitor &battery()
|
|
{
|
|
return *AP_BattMonitor::get_singleton();
|
|
}
|
|
|
|
};
|