mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.4 KiB
C
90 lines
2.4 KiB
C
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#include "SIM_config.h"
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#if AP_SIM_INA3221_ENABLED
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#include "SIM_I2CDevice.h"
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#include <AP_Common/Bitmask.h>
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/*
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Testing:
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param set BATT_MONITOR 30
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reboot
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param set BATT_I2C_ADDR 0x42
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param set BATT_I2C_BUS 1
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param set BATT_CHANNEL 2
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reboot
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*/
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namespace SITL {
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class INA3221 : public I2CDevice
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{
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public:
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INA3221();
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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void update(const class Aircraft &aircraft) override;
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private:
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static const uint16_t MANUFACTURER_ID = 0b0101010001001001; // from datasheet p25
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static const uint16_t DIE_ID = 0b0011001000100000; // from datasheet p25
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// All 16-bit INA3221 registers are two 8-bit bytes via the I2C
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// interface. Table 4 shows a register map for the INA3221.
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union Registers {
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uint16_t word[256];
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struct PACKED ByName {
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union {
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uint16_t word;
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struct PACKED {
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uint16_t mode : 3;
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uint16_t shunt_voltage_conversiontime : 3;
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uint16_t bus_voltage_conversiontime : 3;
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uint16_t averaging_mode : 3;
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uint16_t ch1_enable : 1;
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uint16_t ch2_enable : 1;
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uint16_t ch3_enable : 1;
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uint16_t reset : 1;
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} bits;
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} configuration;
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uint16_t Channel_1_Shunt_Voltage;
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uint16_t Channel_1_Bus_Voltage;
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uint16_t Channel_2_Shunt_Voltage;
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uint16_t Channel_2_Bus_Voltage;
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uint16_t Channel_3_Shunt_Voltage;
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uint16_t Channel_3_Bus_Voltage;
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uint16_t Channel_1_CriticalAlertLimit;
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uint16_t Channel_1_WarningAlertLimit;
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uint16_t Channel_2_CriticalAlertLimit;
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uint16_t Channel_2_WarningAlertLimit;
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uint16_t Channel_3_CriticalAlertLimit;
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uint16_t Channel_3_WarningAlertLimit;
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uint16_t Shunt_VoltageSum;
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uint16_t Shunt_VoltageSumLimit;
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uint16_t Mask_Enable;
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uint16_t Power_ValidUpperLimit;
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uint16_t Power_ValidLowerLimit;
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uint16_t unused[236];
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uint16_t ManufacturerID;
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uint16_t Die_ID;
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} byname;
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} registers;
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// 256 2-byte registers:
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assert_storage_size<Registers::ByName, 512> assert_storage_size_registers_reg;
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Bitmask<256> writable_registers;
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void reset();
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};
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} // namespace SITL
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#endif // AP_SIM_INA3221_ENABLED
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