mirror of
https://github.com/ArduPilot/ardupilot
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6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
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 (HAL_PROGRAM_SIZE_LIMIT_KB > 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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