AP_BattMonitor: Require all backends to provide init

libraries/AP_BattMonitor/AP_BattMonitor_Analog.h

@@ -101,6 +101,8 @@ public:
     /// returns true if battery monitor provides current info
     bool has_current() const override;
 
+    void init(void) override {}
+
 protected:
 
     AP_HAL::AnalogSource *_volt_pin_analog_source;

libraries/AP_BattMonitor/AP_BattMonitor_Backend.h

@@ -29,7 +29,7 @@ public:
     virtual ~AP_BattMonitor_Backend(void) {}
 
     // initialise
-    virtual void init() {}
+    virtual void init() = 0;
 
     // read the latest battery voltage
     virtual void read() = 0;

libraries/AP_BattMonitor/AP_BattMonitor_SMBus.cpp

@@ -17,6 +17,10 @@ AP_BattMonitor_SMBus::AP_BattMonitor_SMBus(AP_BattMonitor &mon,
     _mon._pack_capacity[_state.instance] = 0;
 }
 
+void AP_BattMonitor_SMBus::init(void) {
+    _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus::timer, void));
+}
+
 /// read the battery_voltage and current, should be called at 10hz
 void AP_BattMonitor_SMBus::read(void)
 {

libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h

@@ -28,6 +28,8 @@ public:
     // all smart batteries are expected to provide current
     bool has_current() const override { return true; }
 
+    void init(void) override;
+
 protected:
 
     void read(void) override;
@@ -65,6 +67,8 @@ protected:
 
     bool _has_cell_voltages;        // smbus backends flag this as true once they have recieved a valid cell voltage report
 
+    virtual void timer(void) = 0;   // timer function to read from the battery
+
 };
 
 // include specific implementations

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Maxell.cpp

@@ -40,9 +40,7 @@ AP_BattMonitor_SMBus_Maxell::AP_BattMonitor_SMBus_Maxell(AP_BattMonitor &mon,
                                                    AP_BattMonitor::BattMonitor_State &mon_state,
                                                    AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
     : AP_BattMonitor_SMBus(mon, mon_state, std::move(dev))
-{
+{}
-    _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus_Maxell::timer, void));
-}
 
 void AP_BattMonitor_SMBus_Maxell::timer()
 {

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Maxell.h

@@ -17,7 +17,7 @@ public:
 
 private:
 
-    void timer(void);
+    void timer(void) override;
 
     // check if PEC supported with the version value in SpecificationInfo() function
     // returns true once PEC is confirmed as working or not working

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp

@@ -33,7 +33,6 @@ AP_BattMonitor_SMBus_Solo::AP_BattMonitor_SMBus_Solo(AP_BattMonitor &mon,
     : AP_BattMonitor_SMBus(mon, mon_state, std::move(dev))
 {
     _pec_supported = true;
-    _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus_Solo::timer, void));
 }
 
 void AP_BattMonitor_SMBus_Solo::timer()

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.h

@@ -17,7 +17,7 @@ public:
 
 private:
 
-    void timer(void);
+    void timer(void) override;
 
     // read_block - returns number of characters read if successful, zero if unsuccessful
     uint8_t read_block(uint8_t reg, uint8_t* data, uint8_t max_len, bool append_zero) const;