mirror of https://github.com/ArduPilot/ardupilot
131 lines
5.2 KiB
C++
131 lines
5.2 KiB
C++
#include "AP_BattMonitor_config.h"
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#if AP_BATTERY_ANALOG_ENABLED
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#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_Analog.h"
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_BattMonitor_Analog::var_info[] = {
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// @Param: VOLT_PIN
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// @DisplayName: Battery Voltage sensing pin
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// @Description: Sets the analog input pin that should be used for voltage monitoring.
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// @Values: -1:Disabled, 2:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 5:Navigator, 13:Pixhawk2_PM2/CubeOrange_PM2, 14:CubeOrange, 16:Durandal, 100:PX4-v1
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("VOLT_PIN", 1, AP_BattMonitor_Analog, _volt_pin, AP_BATT_VOLT_PIN),
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// @Param: CURR_PIN
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// @DisplayName: Battery Current sensing pin
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// @Description: Sets the analog input pin that should be used for current monitoring.
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// @Values: -1:Disabled, 3:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 4:CubeOrange_PM2/Navigator, 14:Pixhawk2_PM2, 15:CubeOrange, 17:Durandal, 101:PX4-v1
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("CURR_PIN", 2, AP_BattMonitor_Analog, _curr_pin, AP_BATT_CURR_PIN),
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// @Param: VOLT_MULT
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// @DisplayName: Voltage Multiplier
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// @Description: Used to convert the voltage of the voltage sensing pin (@PREFIX@VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
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// @User: Advanced
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AP_GROUPINFO("VOLT_MULT", 3, AP_BattMonitor_Analog, _volt_multiplier, AP_BATT_VOLTDIVIDER_DEFAULT),
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// @Param: AMP_PERVLT
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// @DisplayName: Amps per volt
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// @Description: Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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// @Units: A/V
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// @User: Standard
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AP_GROUPINFO("AMP_PERVLT", 4, AP_BattMonitor_Analog, _curr_amp_per_volt, AP_BATT_CURR_AMP_PERVOLT_DEFAULT),
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// @Param: AMP_OFFSET
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// @DisplayName: AMP offset
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// @Description: Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
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// @Units: V
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// @User: Standard
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AP_GROUPINFO("AMP_OFFSET", 5, AP_BattMonitor_Analog, _curr_amp_offset, AP_BATT_CURR_AMP_OFFSET_DEFAULT),
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// @Param: VLT_OFFSET
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// @DisplayName: Voltage offset
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// @Description: Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
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// @Units: V
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// @User: Advanced
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AP_GROUPINFO("VLT_OFFSET", 6, AP_BattMonitor_Analog, _volt_offset, 0),
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// Param indexes must be less than 10 to avoid conflict with other battery monitor param tables loaded by pointer
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AP_GROUPEND
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};
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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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AP_Param::setup_object_defaults(this, var_info);
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// no other good way of setting these defaults
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#if AP_BATT_MONITOR_MAX_INSTANCES > 1
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if (mon_state.instance == 1) {
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#ifdef HAL_BATT2_VOLT_PIN
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_volt_pin.set_default(HAL_BATT2_VOLT_PIN);
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#endif
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#ifdef HAL_BATT2_CURR_PIN
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_curr_pin.set_default(HAL_BATT2_CURR_PIN);
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#endif
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#ifdef HAL_BATT2_VOLT_SCALE
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_volt_multiplier.set_default(HAL_BATT2_VOLT_SCALE);
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#endif
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#ifdef HAL_BATT2_CURR_SCALE
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_curr_amp_per_volt.set_default(HAL_BATT2_VOLT_SCALE);
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#endif
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}
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#endif
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_state.var_info = var_info;
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_volt_pin_analog_source = hal.analogin->channel(_volt_pin);
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_curr_pin_analog_source = hal.analogin->channel(_curr_pin);
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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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_state.healthy = _volt_pin_analog_source->set_pin(_volt_pin);
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// get voltage
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_state.voltage = (_volt_pin_analog_source->voltage_average() - _volt_offset) * _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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const uint32_t tnow = AP_HAL::micros();
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const uint32_t dt_us = tnow - _state.last_time_micros;
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// this copes with changing the pin at runtime
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_state.healthy &= _curr_pin_analog_source->set_pin(_curr_pin);
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// read current
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_state.current_amps = (_curr_pin_analog_source->voltage_average() - _curr_amp_offset) * _curr_amp_per_volt;
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update_consumed(_state, dt_us);
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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 ((AP_BattMonitor::Type)_params._type.get() == AP_BattMonitor::Type::ANALOG_VOLTAGE_AND_CURRENT);
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}
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#endif // AP_BATTERY_ANALOG_ENABLED
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