INA260PowerSensor.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
#include <arpirobot/core/device/BaseDevice.hpp>
#include <arpirobot/core/scheduler.hpp>
#include <arpirobot/core/network/MainVmon.hpp>
#include <arpirobot/core/io/IoDevice.hpp>
 
namespace arpirobot{
 
    namespace internal{
        class AdafruitINA260 : public IoDevice{
        public:
            AdafruitINA260(int address, int bus = 1);
 
            AdafruitINA260(const AdafruitINA260 &other) = delete;
 
            ~AdafruitINA260();
 
            AdafruitINA260 &operator=(const AdafruitINA260 &other) = delete;
 
            bool begin();
 
            void reset();
 
            // mA
            double readCurrent();
 
            // mW
            double readPower();
 
 
            // mV
            double readBusVoltage();
 
            void setMode(int mode);
 
            int getMode();
 
            void setAveragingCount(int count);
 
            int getAveragingCount();
 
            void setCurrentConversionTime(int time);
 
            int getCurrentConversionTime();
 
            void setVoltageConversionTime(int time);
 
            int getVoltageConversiontime();
 
            bool conversionReady();
 
 
            // INA260 Mode values
            const static int MODE_SHUTDOWN;
            const static int MODE_TRIGGERED;
            const static int MODE_CONTINUOUS;
 
            // INA260 Conversion Time values
            const static int TIME_140_US;
            const static int TIME_204_US;
            const static int TIME_332_US;
            const static int TIME_558_US;
            const static int TIME_1_1_MS;
            const static int TIME_2_116_MS;
            const static int TIME_4_156_MS;
            const static int TIME_8_244_MS;
 
            // INA260 Averaging Count values
            const static int COUNT_1;
            const static int COUNT_2;
            const static int COUNT_16;
            const static int COUNT_64;
            const static int COUNT_128;
            const static int COUNT_256;
            const static int COUNT_512;
            const static int COUNT_1024;
 
        protected:
 
            void close() override;
 
        private:
            int i2cReadWordHelper(int reg);
 
            void i2cWriteWordHelper(int reg, int data);
 
            // Registers
            const static int REG_CONFIG;
            const static int REG_CURRENT;
            const static int REG_BUSVOLTAGE;
            const static int REG_POWER;
            const static int REG_MASK_ENABLE;
            const static int REG_ALERT_LIMIT;
            const static int REG_MFG_UID;
            const static int REG_DIE_UID;
 
            int handle = -1;
        };
    }
 
    class INA260PowerSensor : public BaseDevice, public MainVmon{
    public:
        INA260PowerSensor(int bus = -1);
 
        INA260PowerSensor(const INA260PowerSensor &other) = delete;
 
        ~INA260PowerSensor();
 
        INA260PowerSensor &operator=(const INA260PowerSensor &other) = delete;
 
        double getCurrent();
 
        double getVolgate();
 
        double getPower();
 
    protected:
        void begin() override;
 
        bool isEnabled() override;
 
        bool shouldMatchRobotState() override;
 
        bool shouldDisableWithWatchdog() override;
 
        void enable() override;
 
        void disable() override;
 
    private:
 
        void feed();
 
        std::shared_ptr<internal::AdafruitINA260> sensor;
 
        double current = 0, voltage = 0, power = 0;
 
        bool stop = false;
 
        int bus;
    };
 
}