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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_BattMonitor/AP_BattMonitor_AD7091R5.h
Views: 1798
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#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 &params);

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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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