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On Ubuntu, there is a way to monitor power usage by a Linux device via the CLI and inside the task manager if it's a laptop. I am powering my Pi via a lead-acid battery, and I'd like to have a continuous digital way to monitor power usage, without having to use a multimeter or something analog.

Is there something similar I can do on Raspbian?

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you cannot, unless you're ready to solder some external ADC converters to I2C or serial and write scripts that will read the data.

there are NO embedded ADC converters on Raspberry Pi.

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The MoPi board would do the 12 V power conversion and provide battery monitoring capability to the Pi. Without a separate circuit there's no way to do it.

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