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https://github.com/ArduPilot/ardupilot
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5e61e4cdc5
This is an ADC extender based on I2C which is used to read the current and voltage. Enable AD7091R5 in config.h which was reserved previously
76 lines
2.3 KiB
C++
76 lines
2.3 KiB
C++
#pragma once
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#include "AP_BattMonitor_Backend.h"
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#ifndef AP_BATTERY_AD7091R5_ENABLED
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#define AP_BATTERY_AD7091R5_ENABLED (BOARD_FLASH_SIZE > 1024)
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#endif
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#if AP_BATTERY_AD7091R5_ENABLED
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#include <AP_HAL/utility/OwnPtr.h>
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#include <AP_HAL/I2CDevice.h>
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#define AD7091R5_NO_OF_CHANNELS 4
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#define AD7091R5_CONF_CMD 0x04
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#define AD7091R5_CHAN_ALL 0x0F
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#define AD7091R5_CONF_PDOWN0 0x00
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#define AD7091R5_CONF_PDOWN2 0x02
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#define AD7091R5_CONF_PDOWN3 0x03
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#define AD7091R5_CONF_PDOWN_MASK 0x03
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class AP_BattMonitor_AD7091R5 : public AP_BattMonitor_Backend
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{
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public:
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// Constructor
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AP_BattMonitor_AD7091R5(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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// Read the battery voltage and current. Should be called at 10hz
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void read() override;
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void init(void) override;
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// returns true if battery monitor provides consumed energy info
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bool has_consumed_energy() const override
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{
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return has_current();
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}
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// returns true if battery monitor provides current info
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bool has_current() const override
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{
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return true;
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}
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static const struct AP_Param::GroupInfo var_info[];
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private:
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void _read_adc();
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bool _initialize();
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float _data_to_volt(uint32_t data);
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static struct AnalogData {
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uint32_t data;
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} _analog_data[AD7091R5_NO_OF_CHANNELS];
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static bool _first;
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static bool _health;
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HAL_Semaphore sem; // semaphore for access to shared frontend data
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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uint8_t volt_buff_pt;
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uint8_t curr_buff_pt;
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protected:
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// Parameters
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AP_Float _volt_multiplier; // voltage on volt pin multiplied by this to calculate battery voltage
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AP_Float _curr_amp_per_volt; // voltage on current pin multiplied by this to calculate current in amps
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AP_Float _curr_amp_offset; // offset voltage that is subtracted from current pin before conversion to amps
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AP_Float _volt_offset; // offset voltage that is subtracted from voltage pin before conversion
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AP_Int8 _volt_pin; // board pin used to measure battery voltage
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AP_Int8 _curr_pin; // board pin used to measure battery current
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};
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#endif // AP_BATTERY_AD7091R5_ENABLED
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