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