You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
100 lines
4.4 KiB
100 lines
4.4 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
#ifndef AP_BATTMONITOR_ANALOG_H |
|
#define AP_BATTMONITOR_ANALOG_H |
|
|
|
#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_FLYMAPLE |
|
// Flymaple board pin 20 is connected to the external battery supply |
|
// via a 24k/5.1k voltage divider. The schematic claims the divider is 25k/5k, |
|
// but the actual installed resistors are not so. |
|
// So the divider ratio is 5.70588 = (24000+5100)/5100 |
|
# define AP_BATT_VOLT_PIN 20 |
|
# define AP_BATT_CURR_PIN 19 |
|
# define AP_BATT_VOLTDIVIDER_DEFAULT 5.70588f |
|
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f |
|
#elif 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_ERLE || 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 |
|
|
|
#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; |
|
}; |
|
#endif // AP_BATTMONITOR_ANALOG_H
|
|
|