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166 lines
7.8 KiB
166 lines
7.8 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef AP_BATTMONITOR_H |
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#define AP_BATTMONITOR_H |
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#include <inttypes.h> |
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#include <AP_Common.h> |
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#include <AP_Param.h> |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library |
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#include <AP_ADC_AnalogSource.h> |
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// battery monitor types |
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#define AP_BATT_MONITOR_DISABLED 0 |
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#define AP_BATT_MONITOR_VOLTAGE_ONLY 3 |
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#define AP_BATT_MONITOR_VOLTAGE_AND_CURRENT 4 |
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// setup default mag orientation for each board type |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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# define AP_BATT_VOLT_PIN 0 // Battery voltage on A0 |
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# define AP_BATT_CURR_PIN 1 // Battery current on A1 |
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# define AP_BATT_VOLTDIVIDER_DEFAULT 3.56 // on-board APM1 voltage divider with a 3.9kOhm resistor |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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# define AP_BATT_VOLT_PIN 13 // APM2.5/2.6 with 3dr power module |
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# define AP_BATT_CURR_PIN 12 |
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
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// Flymaple board pin 20 is connected to the external battery supply |
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// via a 24k/5.1k voltage divider. The schematic claims the divider is 25k/5k, |
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// but the actual installed resistors are not so. |
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// So the divider ratio is 5.70588 = (24000+5100)/5100 |
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# define AP_BATT_VOLT_PIN 20 |
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# define AP_BATT_CURR_PIN 19 |
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# define AP_BATT_VOLTDIVIDER_DEFAULT 5.70588 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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#elif 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 1.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V2) |
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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 10.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_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 10.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V40) |
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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 1.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) |
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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 1.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V50) |
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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 1.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) |
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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 1.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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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 1.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRHERO_V10) |
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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 1.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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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 10.1 |
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 |
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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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#define AP_BATT_CAPACITY_DEFAULT 3300 |
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#define AP_BATT_LOW_VOLT_TIMEOUT_MS 10000 // low voltage of 10 seconds will cause battery_exhausted to return true |
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class AP_BattMonitor |
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{ |
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public: |
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/// Constructor |
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AP_BattMonitor(); |
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/// Initialize the battery monitor |
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void init(); |
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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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/// monitoring - returns whether we are monitoring voltage only or voltage and current |
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int8_t monitoring() const { return _monitoring; } |
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/// monitoring - returns whether we are monitoring voltage only or voltage and current |
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void set_monitoring(uint8_t mon) { _monitoring.set(mon); } |
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/// Battery voltage. Initialized to 0 |
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float voltage() const { return _voltage; } |
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/// 2nd Battery voltage, if available. return false otherwise |
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bool voltage2(float &voltage) const; |
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/// Battery pack instantaneous currrent draw in amperes |
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float current_amps() const { return _current_amps; } |
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/// Total current drawn since start-up (Amp-hours) |
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float current_total_mah() const { return _current_total_mah; } |
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/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100) |
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uint8_t capacity_remaining_pct() const; |
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/// exhausted - returns true if the voltage remains below the low_voltage for 10 seconds or remaining capacity falls below min_capacity |
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bool exhausted(float low_voltage, float min_capacity_mah); |
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static const struct AP_Param::GroupInfo var_info[]; |
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protected: |
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/// parameters |
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AP_Int8 _monitoring; /// 0=disabled, 3=voltage only, 4=voltage and current |
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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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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_Int32 _pack_capacity; /// battery pack capacity less reserve in mAh |
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// 2nd battery monitoring |
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AP_Int8 _volt2_pin; /// board pin used to measure 2nd battery voltage |
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AP_Float _volt2_multiplier; /// voltage on volt2 pin multiplier |
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/// internal variables |
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float _voltage; /// last read voltage |
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float _voltage2; /// last read voltage 2nd battery |
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float _current_amps; /// last read current drawn |
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float _current_total_mah; /// total current drawn since startup (Amp-hours) |
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uint32_t _last_time_micros; /// time when current was last read |
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uint32_t _low_voltage_start_ms; /// time when voltage dropped below the minimum |
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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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AP_HAL::AnalogSource *_volt2_pin_analog_source; |
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}; |
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#endif // AP_BATTMONITOR_H
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