mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.5 KiB
C++
65 lines
2.5 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "AP_BattMonitor.h"
|
|
|
|
class AP_BattMonitor_Backend
|
|
{
|
|
public:
|
|
// constructor. This incorporates initialisation as well.
|
|
AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state);
|
|
|
|
// we declare a virtual destructor so that BattMonitor driver can
|
|
// override with a custom destructor if need be
|
|
virtual ~AP_BattMonitor_Backend(void) {}
|
|
|
|
// initialise
|
|
virtual void init() = 0;
|
|
|
|
// read the latest battery voltage
|
|
virtual void read() = 0;
|
|
|
|
/// returns true if battery monitor instance provides current info
|
|
virtual bool has_current() const = 0;
|
|
|
|
// returns true if battery monitor provides individual cell voltages
|
|
virtual bool has_cell_voltages() const { return false; }
|
|
|
|
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
|
|
uint8_t capacity_remaining_pct() const;
|
|
|
|
/// get capacity for this instance
|
|
int32_t get_capacity() const;
|
|
|
|
// update battery resistance estimate and voltage_resting_estimate
|
|
void update_resistance_estimate();
|
|
|
|
protected:
|
|
AP_BattMonitor &_mon; // reference to front-end
|
|
AP_BattMonitor::BattMonitor_State &_state; // reference to this instances state (held in the front-end)
|
|
|
|
private:
|
|
// resistance estimate
|
|
uint32_t _resistance_timer_ms; // system time of last resistance estimate update
|
|
float _voltage_filt; // filtered voltage
|
|
float _current_max_amps; // maximum current since start-up
|
|
float _current_filt_amps; // filtered current
|
|
float _resistance_voltage_ref; // voltage used for maximum resistance calculation
|
|
float _resistance_current_ref; // current used for maximum resistance calculation
|
|
};
|