ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h

96 lines
4.2 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
// default pins and dividers
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// px4
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN 101
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && (defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4))
// pixhawk
# define AP_BATT_VOLT_PIN 2
# define AP_BATT_CURR_PIN 3
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
# define AP_BATT_VOLT_PIN 13
# define AP_BATT_CURR_PIN 12
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
# define AP_BATT_VOLT_PIN 10
# define AP_BATT_CURR_PIN 11
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
# define AP_BATT_VOLT_PIN 10
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
# define AP_BATT_VOLT_PIN 10
# define AP_BATT_CURR_PIN 1
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRHERO_V10)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN 101
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#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)
# define AP_BATT_VOLT_PIN 5
# define AP_BATT_CURR_PIN 6
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
# define AP_BATT_VOLT_PIN 0
# define AP_BATT_CURR_PIN 1
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
# define AP_BATT_VOLT_PIN 2
# define AP_BATT_CURR_PIN 3
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#else
# define AP_BATT_VOLT_PIN -1
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#endif
// Other values normally set directly by mission planner
// # define AP_BATT_VOLTDIVIDER_DEFAULT 15.70 // Volt divider for AttoPilot 50V/90A sensor
// # define AP_BATT_VOLTDIVIDER_DEFAULT 4.127 // Volt divider for AttoPilot 13.6V/45A sensor
// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 27.32 // Amp/Volt for AttoPilot 50V/90A sensor
// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 13.66 // Amp/Volt for AttoPilot 13.6V/45A sensor
class AP_BattMonitor_Analog : public AP_BattMonitor_Backend
{
public:
/// Constructor
AP_BattMonitor_Analog(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state);
/// Read the battery voltage and current. Should be called at 10hz
void read();
protected:
AP_HAL::AnalogSource *_volt_pin_analog_source;
AP_HAL::AnalogSource *_curr_pin_analog_source;
};