mirror of https://github.com/ArduPilot/ardupilot
137 lines
6.4 KiB
C++
137 lines
6.4 KiB
C++
#pragma once
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#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Backend.h"
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// default pins and dividers
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#if defined(HAL_BATT_VOLT_PIN)
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// pins defined in board config (hwdef.dat on ChibiOS)
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# define AP_BATT_VOLT_PIN HAL_BATT_VOLT_PIN
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# define AP_BATT_CURR_PIN HAL_BATT_CURR_PIN
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# define AP_BATT_VOLTDIVIDER_DEFAULT HAL_BATT_VOLT_SCALE
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT HAL_BATT_CURR_SCALE
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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 1.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && (defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO))
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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 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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# define AP_BATT_VOLT_PIN 4
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# define AP_BATT_CURR_PIN 3
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_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 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && (defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V52) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V52E) || defined(CONFIG_ARCH_BOARD_VRCORE_V10) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V54))
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# define AP_BATT_VOLT_PIN 10
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# define AP_BATT_CURR_PIN 11
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
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# define AP_BATT_VOLT_PIN 10
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# define AP_BATT_CURR_PIN -1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
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# define AP_BATT_VOLT_PIN 10
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# define AP_BATT_CURR_PIN 1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF)
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# define AP_BATT_VOLT_PIN 5
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# define AP_BATT_CURR_PIN 6
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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# define AP_BATT_VOLT_PIN 0
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# define AP_BATT_CURR_PIN 1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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# define AP_BATT_VOLT_PIN 0
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# define AP_BATT_CURR_PIN 1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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# define AP_BATT_VOLT_PIN 0
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# define AP_BATT_CURR_PIN 1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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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 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2)
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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 11.3f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE)
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# define AP_BATT_VOLT_PIN 3
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# define AP_BATT_CURR_PIN 2
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# define AP_BATT_VOLTDIVIDER_DEFAULT 18.62
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 62.98f
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# define AP_BATT2_VOLT_PIN 5
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# define AP_BATT2_CURR_PIN 4
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# define AP_BATT2_VOLTDIVIDER_DEFAULT 18.62
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# define AP_BATT2_CURR_AMP_PERVOLT_DEFAULT 62.98f
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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 10.1f
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
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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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class AP_BattMonitor_Analog : public AP_BattMonitor_Backend
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{
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public:
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/// Constructor
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AP_BattMonitor_Analog(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params ¶ms);
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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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/// returns true if battery monitor provides consumed energy info
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bool has_consumed_energy() const override { return has_current(); }
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/// returns true if battery monitor provides current info
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bool has_current() const override;
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void init(void) override {}
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protected:
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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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