ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_AD7091R5.h

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#pragma once
#include "AP_BattMonitor_Backend.h"
#ifndef AP_BATTERY_AD7091R5_ENABLED
#define AP_BATTERY_AD7091R5_ENABLED (BOARD_FLASH_SIZE > 1024)
#endif
#if AP_BATTERY_AD7091R5_ENABLED
#include <AP_HAL/utility/OwnPtr.h>
#include <AP_HAL/I2CDevice.h>
#define AD7091R5_NO_OF_CHANNELS 4
#define AD7091R5_CONF_CMD 0x04
#define AD7091R5_CHAN_ALL 0x0F
#define AD7091R5_CONF_PDOWN0 0x00
#define AD7091R5_CONF_PDOWN2 0x02
#define AD7091R5_CONF_PDOWN3 0x03
#define AD7091R5_CONF_PDOWN_MASK 0x03
class AP_BattMonitor_AD7091R5 : public AP_BattMonitor_Backend
{
public:
// Constructor
AP_BattMonitor_AD7091R5(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params);
// Read the battery voltage and current. Should be called at 10hz
void read() override;
void init(void) override;
// returns true if battery monitor provides consumed energy info
bool has_consumed_energy() const override
{
return has_current();
}
// returns true if battery monitor provides current info
bool has_current() const override
{
return true;
}
static const struct AP_Param::GroupInfo var_info[];
private:
void _read_adc();
bool _initialize();
float _data_to_volt(uint32_t data);
static struct AnalogData {
uint32_t data;
} _analog_data[AD7091R5_NO_OF_CHANNELS];
static bool _first;
static bool _health;
HAL_Semaphore sem; // semaphore for access to shared frontend data
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
uint8_t volt_buff_pt;
uint8_t curr_buff_pt;
protected:
// Parameters
AP_Float _volt_multiplier; // voltage on volt pin multiplied by this to calculate battery voltage
AP_Float _curr_amp_per_volt; // voltage on current pin multiplied by this to calculate current in amps
AP_Float _curr_amp_offset; // offset voltage that is subtracted from current pin before conversion to amps
AP_Float _volt_offset; // offset voltage that is subtracted from voltage pin before conversion
AP_Int8 _volt_pin; // board pin used to measure battery voltage
AP_Int8 _curr_pin; // board pin used to measure battery current
};
#endif // AP_BATTERY_AD7091R5_ENABLED