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96 lines
3.7 KiB
96 lines
3.7 KiB
#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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// 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_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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void init(void) override; |
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void request_info(void)override {}; |
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void request_history(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 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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bool _has_cell_voltages; // smbus backends flag this as true once they have recieved a valid cell voltage report |
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virtual void timer(void) = 0; // timer function to read from the battery |
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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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