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97 lines
4.5 KiB
97 lines
4.5 KiB
#pragma once |
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#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library |
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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 CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V1) |
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// px4 |
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# define AP_BATT_VOLT_PIN 100 |
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# define AP_BATT_CURR_PIN 101 |
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1f |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && (defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)) |
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// pixhawk |
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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 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_VRBRAIN && (defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V52) || defined(CONFIG_ARCH_BOARD_VRCORE_V10) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)) |
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# define AP_BATT_VOLT_PIN 10 |
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# define AP_BATT_CURR_PIN 11 |
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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_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51) |
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# define AP_BATT_VOLT_PIN 10 |
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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_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52) |
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# define AP_BATT_VOLT_PIN 10 |
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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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# 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_MINLURE |
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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 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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#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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// 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); |
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/// Read the battery voltage and current. Should be called at 10hz |
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void read(); |
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/// returns true if battery monitor provides current info |
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bool has_current() const override; |
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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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};
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