Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_BattMonitor_Backend.h"
       4             : 
       5             : #ifndef AP_BATTERY_AD7091R5_ENABLED
       6             : #define AP_BATTERY_AD7091R5_ENABLED (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
       7             : #endif
       8             : 
       9             : #if AP_BATTERY_AD7091R5_ENABLED
      10             : 
      11             : #include <AP_HAL/I2CDevice.h>
      12             : 
      13             : #define AD7091R5_NO_OF_CHANNELS  4
      14             : #define AD7091R5_CONF_CMD        0x04
      15             : #define AD7091R5_CHAN_ALL        0x0F
      16             : #define AD7091R5_CONF_PDOWN0     0x00
      17             : #define AD7091R5_CONF_PDOWN2     0x02
      18             : #define AD7091R5_CONF_PDOWN3     0x03
      19             : #define AD7091R5_CONF_PDOWN_MASK 0x03
      20             : 
      21             : class AP_BattMonitor_AD7091R5 : public AP_BattMonitor_Backend
      22             : {
      23             : public:
      24             :     // Constructor
      25             :     AP_BattMonitor_AD7091R5(AP_BattMonitor &mon,
      26             :                             AP_BattMonitor::BattMonitor_State &mon_state,
      27             :                             AP_BattMonitor_Params &params);
      28             : 
      29             :     // Read the battery voltage and current.  Should be called at 10hz
      30             :     void read() override;
      31             :     void init(void) override;
      32             : 
      33             :     // returns true if battery monitor provides consumed energy info
      34           0 :     bool has_consumed_energy() const override
      35             :     {
      36           0 :         return has_current();
      37             :     }
      38             : 
      39             :     // returns true if battery monitor provides current info
      40           0 :     bool has_current() const override
      41             :     {
      42           0 :         return true;
      43             :     }
      44             : 
      45             :     static const struct AP_Param::GroupInfo var_info[];
      46             : 
      47             : private:
      48             :     void _read_adc();
      49             :     bool _initialize();
      50             :     float _data_to_volt(uint32_t data);
      51             : 
      52             :     static struct AnalogData {
      53             :         uint32_t data;
      54             :     } _analog_data[AD7091R5_NO_OF_CHANNELS];
      55             :     static bool _first;
      56             :     static bool _health;
      57             : 
      58             :     HAL_Semaphore sem; // semaphore for access to shared frontend data
      59             :     AP_HAL::I2CDevice *_dev;
      60             :     uint8_t volt_buff_pt;
      61             :     uint8_t curr_buff_pt;
      62             : 
      63             : protected:
      64             : 
      65             :     // Parameters
      66             :     AP_Float _volt_multiplier;          // voltage on volt pin multiplied by this to calculate battery voltage
      67             :     AP_Float _curr_amp_per_volt;        // voltage on current pin multiplied by this to calculate current in amps
      68             :     AP_Float _curr_amp_offset;          // offset voltage that is subtracted from current pin before conversion to amps
      69             :     AP_Float _volt_offset;              // offset voltage that is subtracted from voltage pin before conversion
      70             :     AP_Int8  _volt_pin;                 // board pin used to measure battery voltage
      71             :     AP_Int8  _curr_pin;                 // board pin used to measure battery current
      72             : };
      73             : 
      74             : #endif // AP_BATTERY_AD7091R5_ENABLED