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59 lines
1.6 KiB
59 lines
1.6 KiB
#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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#ifndef HAL_BATTMON_INA2XX_ENABLED |
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#define HAL_BATTMON_INA2XX_ENABLED (BOARD_FLASH_SIZE > 1024) |
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#endif |
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#if HAL_BATTMON_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 ¶ms); |
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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 reset_remaining(float percentage) override { return false; } |
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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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private: |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> 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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AP_Int8 i2c_bus; |
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AP_Int8 i2c_address; |
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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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}; |
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#endif // HAL_BATTMON_INA2XX_ENABLED
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