mirror of https://github.com/ArduPilot/ardupilot
126 lines
5.7 KiB
C++
126 lines
5.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AP_BATTMONITOR_H
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#define AP_BATTMONITOR_H
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#include <inttypes.h>
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_ADC_AnalogSource.h>
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// battery monitor types
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#define AP_BATT_MONITOR_DISABLED 0
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#define AP_BATT_MONITOR_VOLTAGE_ONLY 3
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#define AP_BATT_MONITOR_VOLTAGE_AND_CURRENT 4
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// setup default mag orientation for each board type
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define AP_BATT_VOLT_PIN 0 // Battery voltage on A0
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# define AP_BATT_CURR_PIN 1 // Battery current on A1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 3.56 // on-board APM1 voltage divider with a 3.9kOhm resistor
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define AP_BATT_VOLT_PIN 13 // APM2.5/2.6 with 3dr power module
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# define AP_BATT_CURR_PIN 12
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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// Flymaple board pin 20 is connected to the external battery supply
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// via a 24k/5.1k voltage divider. The schematic claims the divider is 25k/5k,
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// but the actual installed resistors are not so.
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// So the divider ratio is 5.70588 = (24000+5100)/5100
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# define AP_BATT_VOLT_PIN 20
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# define AP_BATT_CURR_PIN 19
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# define AP_BATT_VOLTDIVIDER_DEFAULT 5.70588
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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// px4
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# define AP_BATT_VOLT_PIN 100
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# define AP_BATT_CURR_PIN 101
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
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// pixhawk
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# define AP_BATT_VOLT_PIN 2
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# define AP_BATT_CURR_PIN 3
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define AP_BATT_VOLT_PIN 13
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# define AP_BATT_CURR_PIN 12
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#else
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# define AP_BATT_VOLT_PIN -1
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# define AP_BATT_CURR_PIN -1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#endif
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// Other values normally set directly by mission planner
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// # define AP_BATT_VOLTDIVIDER_DEFAULT 15.70 // Volt divider for AttoPilot 50V/90A sensor
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// # define AP_BATT_VOLTDIVIDER_DEFAULT 4.127 // Volt divider for AttoPilot 13.6V/45A sensor
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// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 27.32 // Amp/Volt for AttoPilot 50V/90A sensor
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// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 13.66 // Amp/Volt for AttoPilot 13.6V/45A sensor
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#define AP_BATT_CAPACITY_DEFAULT 3300
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#define AP_BATT_LOW_VOLT_TIMEOUT_MS 10000 // low voltage of 10 seconds will cause battery_exhausted to return true
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class AP_BattMonitor
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{
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public:
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/// Constructor
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AP_BattMonitor();
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/// Initialize the battery monitor
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void init();
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/// Read the battery voltage and current. Should be called at 10hz
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void read();
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/// monitoring - returns whether we are monitoring voltage only or voltage and current
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int8_t monitoring() const { return _monitoring; }
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/// Battery voltage. Initialized to 99 to prevent low voltage events at startup
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float voltage() const { return _voltage; }
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/// Battery pack instantaneous currrent draw in amperes
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float current_amps() const { return _current_amps; }
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/// Total current drawn since start-up (Amp-hours)
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float current_total_mah() const { return _current_total_mah; }
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/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
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uint8_t capacity_remaining_pct() const;
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/// exhausted - returns true if the voltage remains below the low_voltage for 10 seconds or remaining capacity falls below min_capacity
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bool exhausted(float low_voltage, float min_capacity_mah);
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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/// parameters
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AP_Int8 _monitoring; /// 0=disabled, 3=voltage only, 4=voltage and current
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AP_Int8 _volt_pin; /// board pin used to measure battery voltage
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AP_Int8 _curr_pin; /// board pin used to measure battery current
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AP_Float _volt_multiplier; /// voltage on volt pin multiplied by this to calculate battery voltage
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AP_Float _curr_amp_per_volt; /// voltage on current pin multiplied by this to calculate current in amps
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AP_Float _curr_amp_offset; /// offset voltage that is subtracted from current pin before conversion to amps
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AP_Int32 _pack_capacity; /// battery pack capacity less reserve in mAh
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/// internal variables
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float _voltage; /// last read voltage
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float _current_amps; /// last read current drawn
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float _current_total_mah; /// total current drawn since startup (Amp-hours)
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uint32_t _last_time_micros; /// time when current was last read
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uint32_t _low_voltage_start_ms; /// time when voltage dropped below the minimum
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AP_HAL::AnalogSource *_volt_pin_analog_source;
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AP_HAL::AnalogSource *_curr_pin_analog_source;
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};
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#endif // AP_BATTMONITOR_H
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