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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
Views: 1798
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#pragma once

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#include "AP_BattMonitor_Backend.h"

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#if AP_BATTERY_ANALOG_ENABLED

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#include "AP_BattMonitor.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 &params);

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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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#endif  // AP_BATTERY_ANALOG_ENABLED

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