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