mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.4 KiB
C++
70 lines
2.4 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_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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/// 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_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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// all smart batteries provide current and individual cell voltages
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bool has_current() const override { return true; }
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bool has_cell_voltages() const override { return true; }
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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 succesful, 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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// reads the temperature word from the battery
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// returns true if the read was successful
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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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// 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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};
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// include specific implementations
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#include "AP_BattMonitor_SMBus_Solo.h"
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#include "AP_BattMonitor_SMBus_Maxell.h"
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