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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_BattMonitor/AP_BattMonitor_INA239.h
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#pragma once

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#include <AP_Common/AP_Common.h>

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#include <AP_HAL/SPIDevice.h>

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#include "AP_BattMonitor_Backend.h"

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#include <utility>

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#if AP_BATTERY_INA239_ENABLED

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class AP_BattMonitor_INA239 : public AP_BattMonitor_Backend

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{

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public:

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    /// Constructor

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    AP_BattMonitor_INA239(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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    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 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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protected:

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    AP_HAL::Device *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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    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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    AP_Float max_amps;

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    AP_Float rShunt;

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};

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#endif // AP_BATTERY_INA239_ENABLED

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