mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.8 KiB
C++
70 lines
1.8 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/I2CDevice.h>
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#include "AP_BattMonitor_Backend.h"
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#include <AP_Param/AP_Param.h>
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#include <utility>
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#if AP_BATTERY_INA2XX_ENABLED
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class AP_BattMonitor_INA2XX : public AP_BattMonitor_Backend
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{
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public:
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/// Constructor
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AP_BattMonitor_INA2XX(AP_BattMonitor &mon,
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AP_BattMonitor::BattMonitor_State &mon_state,
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AP_BattMonitor_Params ¶ms);
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bool has_cell_voltages() const override { return false; }
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bool has_temperature() const override { return false; }
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bool has_current() const override { return true; }
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bool reset_remaining(float percentage) override { return false; }
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bool get_cycle_count(uint16_t &cycles) const override { return false; }
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void init(void) override;
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void read() override;
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
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enum class DevType : uint8_t {
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UNKNOWN = 0,
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INA226,
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INA228,
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INA238,
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};
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static const uint8_t i2c_probe_addresses[];
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uint8_t i2c_probe_next;
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bool configure(DevType dtype);
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bool read_word16(const uint8_t reg, int16_t& data) const;
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bool read_word24(const uint8_t reg, int32_t& data) const;
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bool write_word(const uint8_t reg, const uint16_t data) const;
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void timer(void);
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bool detect_device(void);
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DevType dev_type;
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uint32_t last_detect_ms;
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AP_Int8 i2c_bus;
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AP_Int8 i2c_address;
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AP_Float max_amps;
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bool callback_registered;
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uint32_t failed_reads;
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struct {
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uint16_t count;
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float volt_sum;
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float current_sum;
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HAL_Semaphore sem;
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} accumulate;
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float current_LSB;
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float voltage_LSB;
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};
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#endif // AP_BATTERY_INA2XX_ENABLED
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