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BattMon: Bebop always uses bebop batt monitor

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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32
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -133,26 +133,22 @@ AP_BattMonitor::init()
return; return;
} }
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
// force monitor for bebop
_monitoring[0] = BattMonitor_TYPE_BEBOP;
#endif
// create each instance // create each instance
for (uint8_t instance=0; instance<AP_BATT_MONITOR_MAX_INSTANCES; instance++) { for (uint8_t instance=0; instance<AP_BATT_MONITOR_MAX_INSTANCES; instance++) {
uint8_t monitor_type = _monitoring[instance]; uint8_t monitor_type = _monitoring[instance];
switch (monitor_type) {
// check for analog instance case BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY:
#if CONFIG_HAL_BOARD_TYPE == CONFIG_HAL_BOARD_TYPE_LINUX && \ case BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT:
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; state[instance].instance = instance;
drivers[instance] = new AP_BattMonitor_Analog(*this, instance, state[instance]); drivers[instance] = new AP_BattMonitor_Analog(*this, instance, state[instance]);
_num_instances++; _num_instances++;
break;
// check for SMBus case BattMonitor_TYPE_SMBUS:
} else if (monitor_type == BattMonitor_TYPE_SMBUS) {
state[instance].instance = instance; state[instance].instance = instance;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #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]);
@ -160,6 +156,14 @@ AP_BattMonitor::init()
drivers[instance] = new AP_BattMonitor_SMBus_I2C(*this, instance, state[instance]); drivers[instance] = new AP_BattMonitor_SMBus_I2C(*this, instance, state[instance]);
#endif #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 // 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_NONE = 0,
BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY = 3, BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY = 3,
BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT = 4, 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 // The BattMonitor_State structure is filled in by the backend driver