ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h

58 lines
1.8 KiB
C++

#pragma once
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
#define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
class BattInfoCb;
class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
{
public:
enum BattMonitor_UAVCAN_Type {
UAVCAN_BATTERY_INFO = 0
};
/// Constructor
AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params);
void init() override {}
/// Read the battery voltage and current. Should be called at 10hz
void read() override;
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
uint8_t capacity_remaining_pct() const override;
bool has_temperature() const override { return _has_temperature; }
bool has_current() const override {
return true;
}
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_BattMonitor_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t battery_id);
static void handle_battery_info_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoCb &cb);
private:
void handle_battery_info(const BattInfoCb &cb);
static bool match_battery_id(uint8_t instance, uint8_t battery_id) {
// when serial number is negative, all batteries are accepted. Else, it must match
return (AP::battery().get_serial_number(instance) < 0) || (AP::battery().get_serial_number(instance) == (int32_t)battery_id);
}
AP_BattMonitor::BattMonitor_State _interim_state;
BattMonitor_UAVCAN_Type _type;
HAL_Semaphore _sem_battmon;
AP_UAVCAN* _ap_uavcan;
uint8_t _node_id;
uint8_t _soc;
bool _has_temperature;
};