mirror of https://github.com/ArduPilot/ardupilot
52 lines
902 B
C++
52 lines
902 B
C++
/*
|
|
* AP_BatteryMonitor.h
|
|
*
|
|
*/
|
|
|
|
#ifndef AP_BATTERYMONITOR_H_
|
|
#define AP_BATTERYMONITOR_H_
|
|
|
|
#include <inttypes.h>
|
|
#include <wiring.h>
|
|
|
|
namespace apo {
|
|
|
|
class AP_BatteryMonitor {
|
|
public:
|
|
AP_BatteryMonitor(uint8_t pin, float voltageDivRatio, float minVolt, float maxVolt) :
|
|
_pin(pin), _voltageDivRatio(voltageDivRatio),
|
|
_minVolt(minVolt), _maxVolt(maxVolt), _voltage(maxVolt) {
|
|
}
|
|
|
|
void update() {
|
|
// low pass filter on voltage
|
|
_voltage = _voltage*.9 + (analogRead(_pin)/255)*_voltageDivRatio*0.1;
|
|
}
|
|
|
|
/**
|
|
* Accessors
|
|
*/
|
|
float getVoltage() {
|
|
return _voltage;
|
|
}
|
|
|
|
uint8_t getPercentage() {
|
|
float norm = (_voltage-_minVolt)/(_maxVolt-_minVolt);
|
|
if (norm < 0) norm = 0;
|
|
else if (norm > 1) norm = 1;
|
|
return 100*norm;
|
|
}
|
|
|
|
private:
|
|
|
|
uint8_t _pin;
|
|
float _voltageDivRatio;
|
|
float _voltage;
|
|
float _minVolt;
|
|
float _maxVolt;
|
|
};
|
|
|
|
} // namespace apo
|
|
|
|
#endif /* AP_BATTERYMONITOR_H_ */
|