zr-v4/libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.h

#pragma once

#include <AP_HAL/AP_HAL.h>
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"

#define AP_BATTMONITOR_SERIAL_TIMEOUT_MICROS 5000000
#define BATTGO_CMD_REQUEST_INFO   0x40
#define BATTGO_CMD_REQUEST_ACTUAL_DATA   0x42
#define BATTGO_CMD_REQUEST_HISTORY    0x44
class AP_BattMonitor_Serial_BattGo : public AP_BattMonitor_Backend
{

public:
 AP_BattMonitor_Serial_BattGo(AP_BattMonitor &mon,
                                           AP_BattMonitor::BattMonitor_State &mon_state,
                                           AP_BattMonitor_Params &params,
                                   uint8_t serial_instance);

  // enum BattMonitor_Serial_BattGo_Type
  // {
  //   SERIAL_BATTGO_INFO = 0
  // };

typedef enum
{
	rsWaitSync,
	rsWaitAddres,
	rsWaitLength,    
	rsWaitData,
	rsWaitChkSumL,
	rsWaitChkSumH,
}eComunicainot_t;

  // ~AP_BattMonitor_Serial_BattGo();

  bool has_current() const override
  {
    return true;
  }

  void init() override;

  /// Read the battery voltage and current.  Should be called at 10hz
  void read() override;

  void  request_info(void) override;        
  void  request_history(void) override;  
  
 bool _has_cell_voltages; 
 bool has_cell_voltages() const override { return _has_cell_voltages; }

  // static detection function
  static bool detect(uint8_t serial_instance);
void update_battgo_param_mavlink(mavlink_channel_t chan,mavlink_battgo_info_t &mavlink_battgo_info_t);
void notice_to_send_battgo_param();

private:

  AP_HAL::UARTDriver *uart = nullptr;

  AP_BattMonitor::BattMonitor_State _interim_state;   //TODO   may need to fix
 
  char linebuf[10];
  uint8_t linebuf_len = 0;
  const int Head1 = 0x55; //数据包帧头
  uint8_t data_buf[116];

  uint8_t step;
  uint8_t addr;
  uint8_t payload_length;
  uint8_t payload_counter;
  uint16_t check_sum;

  uint16_t m_SyncByteCount = 0;
  uint8_t m_eRxStatus = 0;
  uint8_t m_u08RXCnt;

  void requestBattData(uint8_t data);

  bool get_reading();
  uint8_t crc_crc8(const uint8_t *p, uint8_t len);
  //void gotoStepAddr(uint8_t &data);
  //void setPayLoadData(uint8_t &usart_data);
  bool parseBattGo();
  void  rxProcess(uint8_t data);
  //void AP_BattMonitor_Serial_BattGo::doWithReadHeaderData(uint8_t &usart_data,uint8_t target_data,uint8_t step,uint8_t &payload_length,uint8_t &payload_count,uint8_t * data_buf,bool &is_read_header);
};