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AP_BattMonitor: Handle allocating too many analog channels #28910

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merged 1 commit into from
Dec 24, 2024
Merged

AP_BattMonitor: Handle allocating too many analog channels #28910

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14 changes: 12 additions & 2 deletions libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AP_BoardConfig/AP_BoardConfig.h>

#include "AP_BattMonitor_Analog.h"

Expand Down Expand Up @@ -88,7 +89,15 @@ AP_BattMonitor_Analog::AP_BattMonitor_Analog(AP_BattMonitor &mon,
_state.var_info = var_info;

_volt_pin_analog_source = hal.analogin->channel(_volt_pin);
_curr_pin_analog_source = hal.analogin->channel(_curr_pin);
if (_volt_pin_analog_source == nullptr) {
AP_BoardConfig::config_error("No analog channels for battery %d", mon_state.instance);
}
if ((AP_BattMonitor::Type)_params._type.get() == AP_BattMonitor::Type::ANALOG_VOLTAGE_AND_CURRENT) {
_curr_pin_analog_source = hal.analogin->channel(_curr_pin);
if (_curr_pin_analog_source == nullptr) {
AP_BoardConfig::config_error("No analog channels for battery %d", mon_state.instance);
}
}

}

Expand Down Expand Up @@ -124,7 +133,8 @@ AP_BattMonitor_Analog::read()
/// return true if battery provides current info
bool AP_BattMonitor_Analog::has_current() const
{
return ((AP_BattMonitor::Type)_params._type.get() == AP_BattMonitor::Type::ANALOG_VOLTAGE_AND_CURRENT);
return (_curr_pin_analog_source != nullptr) &&
((AP_BattMonitor::Type)_params._type.get() == AP_BattMonitor::Type::ANALOG_VOLTAGE_AND_CURRENT);
}

#endif // AP_BATTERY_ANALOG_ENABLED
3 changes: 0 additions & 3 deletions libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,9 +59,6 @@ AP_BattMonitor_Synthetic_Current::read()
const uint32_t tnow = AP_HAL::micros();
const uint32_t dt_us = tnow - _state.last_time_micros;

// this copes with changing the pin at runtime
_state.healthy &= _curr_pin_analog_source->set_pin(_curr_pin);

// read current
_state.current_amps = ((_state.voltage/_max_voltage)*sq(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)) * 0.0001 * _curr_amp_per_volt) + _curr_amp_offset ;

Expand Down
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