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BattMon: Bebop always uses bebop batt monitor

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This commit is contained in:
Randy Mackay 2015-07-23 19:49:48 +09:00
parent 84b6ab0707
commit 9482578c60
2 changed files with 27 additions and 22 deletions
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46
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -133,33 +133,37 @@ AP_BattMonitor::init()
return;
}
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
// force monitor for bebop
_monitoring[0] = BattMonitor_TYPE_BEBOP;
#endif
// create each instance
for (uint8_t instance=0; instance<AP_BATT_MONITOR_MAX_INSTANCES; instance++) {
uint8_t monitor_type = _monitoring[instance];
// check for analog instance
#if CONFIG_HAL_BOARD_TYPE == CONFIG_HAL_BOARD_TYPE_LINUX && \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
if (monitor_type == BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT) {
state[instance].instance = instance;
drivers[instance] = new AP_BattMonitor_Bebop(*this, instance, state[instance]);
_num_instances++;
} else
#endif
if (monitor_type == BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY || monitor_type == BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT) {
state[instance].instance = instance;
drivers[instance] = new AP_BattMonitor_Analog(*this, instance, state[instance]);
_num_instances++;
// check for SMBus
} else if (monitor_type == BattMonitor_TYPE_SMBUS) {
state[instance].instance = instance;
switch (monitor_type) {
case BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY:
case BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT:
state[instance].instance = instance;
drivers[instance] = new AP_BattMonitor_Analog(*this, instance, state[instance]);
_num_instances++;
break;
case BattMonitor_TYPE_SMBUS:
state[instance].instance = instance;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
drivers[instance] = new AP_BattMonitor_SMBus_PX4(*this, instance, state[instance]);
drivers[instance] = new AP_BattMonitor_SMBus_PX4(*this, instance, state[instance]);
#else
drivers[instance] = new AP_BattMonitor_SMBus_I2C(*this, instance, state[instance]);
drivers[instance] = new AP_BattMonitor_SMBus_I2C(*this, instance, state[instance]);
#endif
_num_instances++;
_num_instances++;
break;
case BattMonitor_TYPE_BEBOP:
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
state[instance].instance = instance;
drivers[instance] = new AP_BattMonitor_Bebop(*this, instance, state[instance]);
_num_instances++;
#endif
break;
}
// call init function for each backend

3
libraries/AP_BattMonitor/AP_BattMonitor.h
View File

@ -40,7 +40,8 @@ public:
BattMonitor_TYPE_NONE = 0,
BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY = 3,
BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT = 4,
BattMonitor_TYPE_SMBUS = 5
BattMonitor_TYPE_SMBUS = 5,
BattMonitor_TYPE_BEBOP = 6
};
// The BattMonitor_State structure is filled in by the backend driver