Book a Demo!
CoCalc Logo Icon
StoreFeaturesDocsShareSupportNewsAboutPoliciesSign UpSign In
Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
9692 views
1
#pragma once

2


3
#include <AP_Common/AP_Common.h>

4
#include <AP_HAL/I2CDevice.h>

5
#include "AP_BattMonitor_Backend.h"

6
#include <AP_Param/AP_Param.h>

7
#include <utility>

8


9
#if AP_BATTERY_INA2XX_ENABLED

10


11
class AP_BattMonitor_INA2XX : public AP_BattMonitor_Backend

12
{

13
public:

14
    /// Constructor

15
    AP_BattMonitor_INA2XX(AP_BattMonitor &mon,

16
                          AP_BattMonitor::BattMonitor_State &mon_state,

17
                          AP_BattMonitor_Params &params);

18


19
    bool has_cell_voltages() const override { return false; }

20
    bool has_temperature() const override { return has_temp; }

21
    bool has_current() const override { return true; }

22
    bool get_cycle_count(uint16_t &cycles) const override { return false; }

23
    bool get_temperature(float &temperature) const override;

24


25
    void init(void) override;

26
    void read() override;

27


28
    static const struct AP_Param::GroupInfo var_info[];

29


30
private:

31
    AP_HAL::I2CDevice *dev;

32


33
    enum class DevType : uint8_t {

34
        UNKNOWN = 0,

35
        INA226,

36
        INA228,

37
        INA238,

38
        INA231,

39
        INA260,

40
    };

41


42
    static const uint8_t i2c_probe_addresses[];

43
    uint8_t i2c_probe_next;

44


45
    bool configure(DevType dtype);

46
    bool read_word16(const uint8_t reg, int16_t& data) const;

47
    bool read_word24(const uint8_t reg, int32_t& data) const;

48
    bool write_word(const uint8_t reg, const uint16_t data) const;

49
    void timer(void);

50
    bool detect_device(void);

51


52
    DevType dev_type;

53
    uint32_t last_detect_ms;

54


55
    AP_Int8 i2c_bus;

56
    AP_Int8 i2c_address;

57
    AP_Float max_amps;

58
    AP_Float rShunt;

59
    uint32_t failed_reads;

60


61
    struct {

62
        uint16_t count;

63
        float volt_sum;

64
        float current_sum;

65
        HAL_Semaphore sem;

66
    } accumulate;

67
    float current_LSB;

68
    float voltage_LSB;

69


70
    float temperature;

71


72
    bool has_temp;

73
};

74


75
#endif // AP_BATTERY_INA2XX_ENABLED

76


77