mirror of https://github.com/ArduPilot/ardupilot
92 lines
3.9 KiB
C++
92 lines
3.9 KiB
C++
/*
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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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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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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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AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params ¶ms);
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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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// initialise
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virtual void init() = 0;
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// read the latest battery voltage
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virtual void read() = 0;
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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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/// returns true if battery monitor instance provides current info
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virtual bool has_current() const = 0;
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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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// returns true if battery monitor provides temperature
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virtual bool has_temperature() const { return false; }
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/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
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virtual uint8_t capacity_remaining_pct() const;
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// return true if cycle count can be provided and fills in cycles argument
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virtual bool get_cycle_count(uint16_t &cycles) const { return false; }
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/// get voltage with sag removed (based on battery current draw and resistance)
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/// this will always be greater than or equal to the raw voltage
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float voltage_resting_estimate() const;
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// update battery resistance estimate and voltage_resting_estimate
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void update_resistance_estimate();
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// updates failsafe timers, and returns what failsafes are active
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virtual AP_BattMonitor::Failsafe update_failsafes(void);
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// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
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bool arming_checks(char * buffer, size_t buflen) const;
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// reset remaining percentage to given value
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virtual bool reset_remaining(float percentage);
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// logging functions
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void Log_Write_BAT(const uint8_t instance, const uint64_t time_us) const;
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void Log_Write_BCL(const uint8_t instance, const uint64_t time_us) const;
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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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AP_BattMonitor_Params &_params; // reference to this instances parameters (held in the front-end)
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// checks what failsafes could be triggered
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void check_failsafe_types(bool &low_voltage, bool &low_capacity, bool &critical_voltage, bool &critical_capacity) const;
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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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};
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