ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h

128 lines
5.7 KiB
C++

#pragma once
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
// default pins and dividers
#if defined(HAL_BATT_VOLT_PIN)
// pins defined in board config (hwdef.dat on ChibiOS)
# define AP_BATT_VOLT_PIN HAL_BATT_VOLT_PIN
# define AP_BATT_CURR_PIN HAL_BATT_CURR_PIN
# define AP_BATT_VOLTDIVIDER_DEFAULT HAL_BATT_VOLT_SCALE
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT HAL_BATT_CURR_SCALE
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
# define AP_BATT_VOLT_PIN 4
# 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_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_BLUE
# 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_POCKET
# define AP_BATT_VOLT_PIN 1
# define AP_BATT_CURR_PIN 0
# 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_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2)
# define AP_BATT_VOLT_PIN 2
# define AP_BATT_CURR_PIN 3
# define AP_BATT_VOLTDIVIDER_DEFAULT 11.3f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR)
# define AP_BATT_VOLT_PIN 5
# define AP_BATT_CURR_PIN 4
# define AP_BATT_VOLTDIVIDER_DEFAULT 11.0f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 37.8788f
# define AP_BATT_CURR_AMP_OFFSET_DEFAULT 0.330f
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE)
# define AP_BATT_VOLT_PIN 3
# define AP_BATT_CURR_PIN 2
# define AP_BATT_VOLTDIVIDER_DEFAULT 18.62
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 62.98f
# define AP_BATT2_VOLT_PIN 5
# define AP_BATT2_CURR_PIN 4
# define AP_BATT2_VOLTDIVIDER_DEFAULT 18.62
# define AP_BATT2_CURR_AMP_PERVOLT_DEFAULT 62.98f
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1)
# 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
#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
// This is 0 for the majority of the power modules.
#ifndef AP_BATT_CURR_AMP_OFFSET_DEFAULT
#define AP_BATT_CURR_AMP_OFFSET_DEFAULT 0.0f
#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, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params);
/// Read the battery voltage and current. Should be called at 10hz
virtual void read() override;
/// returns true if battery monitor provides consumed energy info
virtual bool has_consumed_energy() const override { return has_current(); }
/// returns true if battery monitor provides current info
virtual bool has_current() const override;
virtual void init(void) override {}
static const struct AP_Param::GroupInfo var_info[];
protected:
AP_HAL::AnalogSource *_volt_pin_analog_source;
AP_HAL::AnalogSource *_curr_pin_analog_source;
// Parameters
AP_Float _volt_multiplier; /// voltage on volt pin multiplied by this to calculate battery voltage
AP_Float _curr_amp_per_volt; /// voltage on current pin multiplied by this to calculate current in amps
AP_Float _curr_amp_offset; /// offset voltage that is subtracted from current pin before conversion to amps
AP_Int8 _volt_pin; /// board pin used to measure battery voltage
AP_Int8 _curr_pin; /// board pin used to measure battery current
};