mirror of https://github.com/ArduPilot/ardupilot
62 lines
2.0 KiB
C++
62 lines
2.0 KiB
C++
#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,
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AP_BattMonitor::BattMonitor_State &mon_state,
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AP_BattMonitor_Params ¶ms) :
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AP_BattMonitor_Backend(mon, mon_state, params)
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{
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_volt_pin_analog_source = hal.analogin->channel(_params._volt_pin);
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_curr_pin_analog_source = hal.analogin->channel(_params._curr_pin);
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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(_params._volt_pin);
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// get voltage
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_state.voltage = _volt_pin_analog_source->voltage_average() * _params._volt_multiplier;
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// read current
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if (has_current()) {
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// calculate time since last current read
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uint32_t tnow = AP_HAL::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(_params._curr_pin);
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// read current
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_state.current_amps = (_curr_pin_analog_source->voltage_average()-_params._curr_amp_offset)*_params._curr_amp_per_volt;
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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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float mah = _state.current_amps * dt * 0.0000002778f;
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_state.current_total_mah += mah;
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_state.consumed_wh += 0.001f * mah * _state.voltage;
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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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/// return true if battery provides current info
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bool AP_BattMonitor_Analog::has_current() const
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{
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return (_params.type() == AP_BattMonitor_Params::BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT);
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}
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