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128 lines
5.8 KiB
128 lines
5.8 KiB
#pragma once |
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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_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_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 1 |
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# define AP_BATT_CURR_PIN 0 |
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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_NAVIGATOR) |
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# define AP_BATT_VOLT_PIN 5 |
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# define AP_BATT_CURR_PIN 4 |
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# define AP_BATT_VOLTDIVIDER_DEFAULT 11.0f |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 37.8788f |
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# define AP_BATT_CURR_AMP_OFFSET_DEFAULT 0.330f |
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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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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) |
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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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#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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// This is 0 for the majority of the power modules. |
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#ifndef AP_BATT_CURR_AMP_OFFSET_DEFAULT |
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#define AP_BATT_CURR_AMP_OFFSET_DEFAULT 0.0f |
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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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virtual void read() override; |
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/// returns true if battery monitor provides consumed energy info |
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virtual 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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virtual bool has_current() const override; |
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virtual void init(void) override {} |
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static const struct AP_Param::GroupInfo var_info[]; |
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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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// Parameters |
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AP_Float _volt_multiplier; /// voltage on volt pin multiplied by this to calculate battery voltage |
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AP_Float _curr_amp_per_volt; /// voltage on current pin multiplied by this to calculate current in amps |
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AP_Float _curr_amp_offset; /// offset voltage that is subtracted from current pin before conversion to amps |
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AP_Float _volt_offset; /// offset voltage that is subtracted from voltage pin before conversion |
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AP_Int8 _volt_pin; /// board pin used to measure battery voltage |
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AP_Int8 _curr_pin; /// board pin used to measure battery current |
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};
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