ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h

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#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_HAL/I2CDevice.h>
#include "AP_BattMonitor_Backend.h"
#include <utility>
#define AP_BATTMONITOR_SMBUS_BUS_INTERNAL 0
#define AP_BATTMONITOR_SMBUS_BUS_EXTERNAL 1
#define AP_BATTMONITOR_SMBUS_I2C_ADDR 0x0B
#define AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
class AP_BattMonitor_SMBus : public AP_BattMonitor_Backend
{
public:
// Smart Battery Data Specification Revision 1.1
enum BATTMONITOR_SMBUS {
BATTMONITOR_SMBUS_TEMP = 0x08, // Temperature
BATTMONITOR_SMBUS_VOLTAGE = 0x09, // Voltage
BATTMONITOR_SMBUS_CURRENT = 0x0A, // Current
BATTMONITOR_SMBUS_REMAINING_CAPACITY = 0x0F, // Remaining Capacity
BATTMONITOR_SMBUS_FULL_CHARGE_CAPACITY = 0x10, // Full Charge Capacity
BATTMONITOR_SMBUS_CYCLE_COUNT = 0x17, // Cycle Count
BATTMONITOR_SMBUS_SPECIFICATION_INFO = 0x1A, // Specification Info
BATTMONITOR_SMBUS_SERIAL = 0x1C, // Serial Number
BATTMONITOR_SMBUS_MANUFACTURE_NAME = 0x20, // Manufacture Name
BATTMONITOR_SMBUS_MANUFACTURE_DATA = 0x23, // Manufacture Data
};
/// Constructor
AP_BattMonitor_SMBus(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
// virtual destructor to reduce compiler warnings
virtual ~AP_BattMonitor_SMBus() {}
bool has_cell_voltages() const override { return _has_cell_voltages; }
// all smart batteries are expected to provide current
bool has_current() const override { return true; }
// don't allow reset of remaining capacity for SMBus
bool reset_remaining(float percentage) override { return false; }
// return true if cycle count can be provided and fills in cycles argument
bool get_cycle_count(uint16_t &cycles) const override;
virtual void init(void) override;
protected:
void read(void) override;
// reads the pack full charge capacity
// returns true if the read was successful, or if we already knew the pack capacity
bool read_full_charge_capacity(void);
// reads the remaining capacity
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// returns true if the read was successful, which is only considered to be the
// we know the full charge capacity
bool read_remaining_capacity(void);
// return a scaler that should be multiplied by the battery's reported capacity numbers to arrive at the actual capacity in mAh
virtual uint16_t get_capacity_scaler() const { return 1; }
// reads the temperature word from the battery
// returns true if the read was successful
bool read_temp(void);
// reads the serial number if it's not already known
// returns true if the read was successful, or the number was already known
bool read_serial_number(void);
// reads the battery's cycle count
void read_cycle_count();
// read word from register
// returns true if read was successful, false if failed
bool read_word(uint8_t reg, uint16_t& data) const;
// get_PEC - calculate PEC for a read or write from the battery
// buff is the data that was read or will be written
uint8_t get_PEC(const uint8_t i2c_addr, uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
bool _pec_supported; // true if PEC is supported
int32_t _serial_number = -1; // battery serial number
uint16_t _full_charge_capacity; // full charge capacity, used to stash the value before setting the parameter
bool _has_cell_voltages; // smbus backends flag this as true once they have received a valid cell voltage report
uint16_t _cycle_count = 0; // number of cycles the battery has experienced. An amount of discharge approximately equal to the value of DesignCapacity.
bool _has_cycle_count; // true if cycle count has been retrieved from the battery
virtual void timer(void) = 0; // timer function to read from the battery
AP_HAL::Device::PeriodicHandle timer_handle;
};