#pragma once #include <AP_Common/AP_Common.h> #include <AP_HAL/I2CDevice.h> #include "AP_BattMonitor_Backend.h" #include <AP_Param/AP_Param.h> #include <utility> #ifndef HAL_BATTMON_INA2XX_ENABLED #define HAL_BATTMON_INA2XX_ENABLED (BOARD_FLASH_SIZE > 1024) #endif #if HAL_BATTMON_INA2XX_ENABLED class AP_BattMonitor_INA2XX : public AP_BattMonitor_Backend { public: /// Constructor AP_BattMonitor_INA2XX(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params ¶ms); bool has_cell_voltages() const override { return false; } bool has_temperature() const override { return false; } bool has_current() const override { return true; } bool reset_remaining(float percentage) override { return false; } bool get_cycle_count(uint16_t &cycles) const override { return false; } virtual void init(void) override; virtual void read() override; static const struct AP_Param::GroupInfo var_info[]; private: AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev; bool read_word(const uint8_t reg, int16_t& data) const; bool write_word(const uint8_t reg, const uint16_t data) const; void timer(void); AP_Int8 i2c_bus; AP_Int8 i2c_address; struct { uint16_t count; float volt_sum; float current_sum; HAL_Semaphore sem; } accumulate; float current_LSB; float voltage_LSB; }; #endif // HAL_BATTMON_INA2XX_ENABLED