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101 lines
3.3 KiB
C++
101 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <battery/battery.h>
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#include <parameters/param.h>
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class AnalogBattery : public Battery
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{
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public:
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AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us);
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/**
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* Update current battery status message.
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*
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* @param voltage_raw Battery voltage read from ADC, volts
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* @param current_raw Voltage of current sense resistor, volts
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* @param timestamp Time at which the ADC was read (use hrt_absolute_time())
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* @param source The source as defined by param BAT%d_SOURCE
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* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
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* @param throttle_normalized Throttle of the vehicle, between 0 and 1
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*/
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void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
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int source, int priority, float throttle_normalized);
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/**
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* Whether the ADC channel for the voltage of this battery is valid.
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* Corresponds to BOARD_BRICK_VALID_LIST
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*/
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bool is_valid();
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/**
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* Which ADC channel is used for voltage reading of this battery
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*/
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int get_voltage_channel();
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/**
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* Which ADC channel is used for current reading of this battery
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*/
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int get_current_channel();
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protected:
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struct {
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param_t v_offs_cur;
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param_t v_div;
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param_t a_per_v;
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param_t v_channel;
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param_t i_channel;
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param_t v_div_old;
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param_t a_per_v_old;
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param_t adc_channel_old;
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} _analog_param_handles;
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struct {
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float v_offs_cur;
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float v_div;
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float a_per_v;
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int v_channel;
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int i_channel;
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float v_div_old;
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float a_per_v_old;
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int adc_channel_old;
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} _analog_params;
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virtual void updateParams() override;
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};
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