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94 lines
2.9 KiB
94 lines
2.9 KiB
#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.h" |
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#include "AP_BattMonitor_Sum.h" |
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/* |
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battery monitor that is the sum of other battery monitors after this one |
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This can be used to combined other current/voltage sensors into a |
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single backend |
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*/ |
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extern const AP_HAL::HAL& hal; |
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const AP_Param::GroupInfo AP_BattMonitor_Sum::var_info[] = { |
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// Param indexes must be between 20 and 29 to avoid conflict with other battery monitor param tables loaded by pointer |
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// @Param: SUM_MASK |
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// @DisplayName: Battery Sum mask |
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// @Description: 0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. |
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// @Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 |
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// @User: Standard |
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AP_GROUPINFO("SUM_MASK", 20, AP_BattMonitor_Sum, _sum_mask, 0), |
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// Param indexes must be between 20 and 29 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_Sum::AP_BattMonitor_Sum(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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uint8_t instance) : |
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AP_BattMonitor_Backend(mon, mon_state, params), |
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_instance(instance) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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_state.var_info = var_info; |
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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_Sum::read() |
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{ |
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float voltage_sum = 0; |
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uint8_t voltage_count = 0; |
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float current_sum = 0; |
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uint8_t current_count = 0; |
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for (uint8_t i=0; i<_mon.num_instances(); i++) { |
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if (i == _instance) { |
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// never include self |
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continue; |
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} |
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if ((_sum_mask == 0) && (i <= _instance)) { |
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// sum of remaining, skip lower instances |
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continue; |
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} |
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if ((_sum_mask != 0) && ((_sum_mask & 1U<<i) == 0)) { |
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// mask param, skip if mask bit not set |
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continue; |
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} |
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if (!_mon.healthy(i)) { |
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continue; |
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} |
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voltage_sum += _mon.voltage(i); |
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voltage_count++; |
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float current; |
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if (_mon.current_amps(current, i)) { |
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current_sum += current; |
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current_count++; |
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} |
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} |
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const uint32_t tnow_us = AP_HAL::micros(); |
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const uint32_t dt_us = tnow_us - _state.last_time_micros; |
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if (voltage_count > 0) { |
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_state.voltage = voltage_sum / voltage_count; |
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} |
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if (current_count > 0) { |
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_state.current_amps = current_sum; |
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} |
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update_consumed(_state, dt_us); |
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_has_current = (current_count > 0); |
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_state.healthy = (voltage_count > 0); |
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if (_state.healthy) { |
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_state.last_time_micros = tnow_us; |
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} |
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}
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