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AP_BattMonitor: move has_current to backend

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This commit is contained in:
Randy Mackay 2017-05-24 16:43:10 +09:00
parent f02bfab7fe
commit 989677ddfd
6 changed files with 20 additions and 7 deletions
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8
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -243,12 +243,8 @@ bool AP_BattMonitor::is_powering_off(uint8_t instance) const {
/// has_current - returns true if battery monitor instance provides current info
bool AP_BattMonitor::has_current(uint8_t instance) const
{
// check for analog voltage and current monitor or smbus monitor
if (instance < _num_instances && drivers[instance] != nullptr) {
return (_monitoring[instance] == BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT ||
_monitoring[instance] == BattMonitor_TYPE_SOLO ||
_monitoring[instance] == BattMonitor_TYPE_BEBOP ||
_monitoring[instance] == BattMonitor_TYPE_MAXELL);
if (instance < _num_instances && drivers[instance] != nullptr && _monitoring[instance] != BattMonitor_TYPE_NONE) {
return drivers[instance]->has_current();
}
// not monitoring current

8
libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
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@ -28,7 +28,7 @@ AP_BattMonitor_Analog::read()
_state.voltage = _volt_pin_analog_source->voltage_average() * _mon._volt_multiplier[_state.instance];
// read current
if (_mon.has_current(_state.instance)) {
if (has_current()) {
// calculate time since last current read
uint32_t tnow = AP_HAL::micros();
float dt = tnow - _state.last_time_micros;
@ -49,3 +49,9 @@ AP_BattMonitor_Analog::read()
_state.last_time_micros = tnow;
}
}
/// return true if battery provides current info
bool AP_BattMonitor_Analog::has_current() const
{
return (_mon.get_type(_state.instance) == AP_BattMonitor::BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT);
}

3
libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
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@ -87,6 +87,9 @@ public:
/// Read the battery voltage and current. Should be called at 10hz
void read();
/// returns true if battery monitor provides current info
bool has_current() const override;
protected:
AP_HAL::AnalogSource *_volt_pin_analog_source;

3
libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
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@ -34,6 +34,9 @@ public:
// read the latest battery voltage
virtual void read() = 0;
/// returns true if battery monitor instance provides current info
virtual bool has_current() const = 0;
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
uint8_t capacity_remaining_pct() const;

3
libraries/AP_BattMonitor/AP_BattMonitor_Bebop.h
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@ -37,6 +37,9 @@ public:
// read the latest battery voltage
void read() override;
// bebop provides current info
bool has_current() const override { return true; };
private:
float _prev_vbat_raw;
float _prev_vbat;

2
libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h
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@ -23,6 +23,8 @@ public:
// virtual destructor to reduce compiler warnings
virtual ~AP_BattMonitor_SMBus() {}
// all smart batteries provide current info
bool has_current() const override { return true; }
protected: