ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
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#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
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#include "AP_BattMonitor.h"
class AP_BattMonitor_Backend
{
public:
// constructor. This incorporates initialisation as well.
AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params);
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// we declare a virtual destructor so that BattMonitor driver can
// override with a custom destructor if need be
virtual ~AP_BattMonitor_Backend(void) {}
// initialise
virtual void init() = 0;
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// read the latest battery voltage
virtual void read() = 0;
/// returns true if battery monitor instance provides consumed energy info
virtual bool has_consumed_energy() const { return false; }
/// returns true if battery monitor instance provides current info
virtual bool has_current() const = 0;
// returns true if battery monitor provides individual cell voltages
virtual bool has_cell_voltages() const { return false; }
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/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
uint8_t capacity_remaining_pct() const;
/// get voltage with sag removed (based on battery current draw and resistance)
/// this will always be greater than or equal to the raw voltage
float voltage_resting_estimate() const;
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// update battery resistance estimate and voltage_resting_estimate
void update_resistance_estimate();
// updates failsafe timers, and returns what failsafes are active
AP_BattMonitor::BatteryFailsafe update_failsafes(void);
// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
bool arming_checks(char * buffer, size_t buflen) const;
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protected:
AP_BattMonitor &_mon; // reference to front-end
AP_BattMonitor::BattMonitor_State &_state; // reference to this instances state (held in the front-end)
AP_BattMonitor_Params &_params; // reference to this instances parameters (held in the front-end)
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// checks what failsafes could be triggered
void check_failsafe_types(bool &low_voltage, bool &low_capacity, bool &critical_voltage, bool &critical_capacity) const;
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private:
// resistance estimate
uint32_t _resistance_timer_ms; // system time of last resistance estimate update
float _voltage_filt; // filtered voltage
float _current_max_amps; // maximum current since start-up
float _current_filt_amps; // filtered current
float _resistance_voltage_ref; // voltage used for maximum resistance calculation
float _resistance_current_ref; // current used for maximum resistance calculation
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};