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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
Views: 1798
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#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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#if AP_BATTERY_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 &params);

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    bool has_cell_voltages() const override { return false; }

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    bool has_temperature() const override { return has_temp; }

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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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    bool get_temperature(float &temperature) const override;

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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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    enum class DevType : uint8_t {

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        UNKNOWN = 0,

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        INA226,

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        INA228,

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        INA238,

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        INA231,

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    };

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    static const uint8_t i2c_probe_addresses[];

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    uint8_t i2c_probe_next;

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    bool configure(DevType dtype);

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    bool read_word16(const uint8_t reg, int16_t& data) const;

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    bool read_word24(const uint8_t reg, int32_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 detect_device(void);

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    DevType dev_type;

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    uint32_t last_detect_ms;

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    AP_Int8 i2c_bus;

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    AP_Int8 i2c_address;

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    AP_Float max_amps;

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    AP_Float rShunt;

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    uint32_t failed_reads;

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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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    float temperature;

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    bool has_temp;

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};

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#endif // AP_BATTERY_INA2XX_ENABLED

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