mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
93ee9a4ac1
the device doesn't show up till main battery is connected, so we need this change to allow for separate avionics battery and main battery with avionics battery powered on first
60 lines
1.6 KiB
C++
60 lines
1.6 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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#ifndef HAL_BATTMON_INA2XX_ENABLED
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#define HAL_BATTMON_INA2XX_ENABLED (BOARD_FLASH_SIZE > 1024)
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#endif
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#if HAL_BATTMON_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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void configure(void);
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bool read_word(const uint8_t reg, int16_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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AP_Int8 i2c_bus;
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AP_Int8 i2c_address;
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bool configured;
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bool callback_registered;
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uint32_t failed_reads;
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uint32_t last_configure_ms;
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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 // HAL_BATTMON_INA2XX_ENABLED
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