2014-12-04 01:36:17 -04:00
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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2016-02-17 21:25:15 -04:00
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#pragma once
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2014-12-04 01:36:17 -04:00
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2015-08-11 03:28:42 -03:00
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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2014-12-04 01:36:17 -04:00
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#include "AP_BattMonitor.h"
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class AP_BattMonitor_Backend
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{
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public:
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// constructor. This incorporates initialisation as well.
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2017-10-27 02:36:49 -03:00
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AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params ¶ms);
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2014-12-04 01:36:17 -04:00
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// we declare a virtual destructor so that BattMonitor driver can
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// override with a custom destructor if need be
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virtual ~AP_BattMonitor_Backend(void) {}
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2015-04-09 02:37:15 -03:00
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// initialise
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2017-10-26 00:58:56 -03:00
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virtual void init() = 0;
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2015-04-09 02:37:15 -03:00
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2014-12-04 01:36:17 -04:00
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// read the latest battery voltage
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virtual void read() = 0;
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2016-08-25 09:53:33 -03:00
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/// returns true if battery monitor instance provides consumed energy info
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virtual bool has_consumed_energy() const { return false; }
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2017-05-24 04:43:10 -03:00
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/// returns true if battery monitor instance provides current info
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virtual bool has_current() const = 0;
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2017-05-31 00:31:18 -03:00
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// returns true if battery monitor provides individual cell voltages
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virtual bool has_cell_voltages() const { return false; }
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2014-12-04 01:36:17 -04:00
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/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
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uint8_t capacity_remaining_pct() const;
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2017-05-23 04:12:58 -03:00
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// update battery resistance estimate and voltage_resting_estimate
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void update_resistance_estimate();
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2014-12-04 01:36:17 -04:00
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protected:
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AP_BattMonitor &_mon; // reference to front-end
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AP_BattMonitor::BattMonitor_State &_state; // reference to this instances state (held in the front-end)
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2017-10-27 02:36:49 -03:00
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AP_BattMonitor_Params &_params; // reference to this instances parameters (held in the front-end)
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2017-05-23 04:12:58 -03:00
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private:
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// resistance estimate
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uint32_t _resistance_timer_ms; // system time of last resistance estimate update
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float _voltage_filt; // filtered voltage
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float _current_max_amps; // maximum current since start-up
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float _current_filt_amps; // filtered current
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float _resistance_voltage_ref; // voltage used for maximum resistance calculation
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float _resistance_current_ref; // current used for maximum resistance calculation
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2014-12-04 01:36:17 -04:00
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};
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