analog_battery.h
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/****************************************************************************
*
* Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <battery/battery.h>
#include <parameters/param.h>
class AnalogBattery : public Battery
{
public:
AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us);
/**
* Update current battery status message.
*
* @param voltage_raw Battery voltage read from ADC, volts
* @param current_raw Voltage of current sense resistor, volts
* @param timestamp Time at which the ADC was read (use hrt_absolute_time())
* @param source The source as defined by param BAT%d_SOURCE
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
* @param throttle_normalized Throttle of the vehicle, between 0 and 1
*/
void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
int source, int priority, float throttle_normalized);
/**
* Whether the ADC channel for the voltage of this battery is valid.
* Corresponds to BOARD_BRICK_VALID_LIST
*/
bool is_valid();
/**
* Which ADC channel is used for voltage reading of this battery
*/
int get_voltage_channel();
/**
* Which ADC channel is used for current reading of this battery
*/
int get_current_channel();
protected:
struct {
param_t v_offs_cur;
param_t v_div;
param_t a_per_v;
param_t v_channel;
param_t i_channel;
param_t v_div_old;
param_t a_per_v_old;
param_t adc_channel_old;
} _analog_param_handles;
struct {
float v_offs_cur;
float v_div;
float a_per_v;
int v_channel;
int i_channel;
float v_div_old;
float a_per_v_old;
int adc_channel_old;
} _analog_params;
virtual void updateParams() override;
};