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84 lines
3.5 KiB
84 lines
3.5 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_BattMonitor.h" |
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class AP_BattMonitor_Backend |
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{ |
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public: |
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// constructor. This incorporates initialisation as well. |
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AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params ¶ms); |
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// we declare a virtual destructor so that BattMonitor driver can |
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// override with a custom destructor if need be |
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virtual ~AP_BattMonitor_Backend(void) {} |
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// initialise |
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virtual void init() = 0; |
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// read the latest battery voltage |
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virtual void read() = 0; |
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virtual void request_info(void) =0; |
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virtual void request_history(void) =0; |
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/// returns true if battery monitor instance provides consumed energy info |
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virtual bool has_consumed_energy() const { return false; } |
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/// returns true if battery monitor instance provides current info |
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virtual bool has_current() const = 0; |
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// returns true if battery monitor provides individual cell voltages |
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virtual bool has_cell_voltages() const { return false; } |
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/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100) |
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uint8_t capacity_remaining_pct() const; |
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/// get voltage with sag removed (based on battery current draw and resistance) |
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/// this will always be greater than or equal to the raw voltage |
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float voltage_resting_estimate() const; |
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// update battery resistance estimate and voltage_resting_estimate |
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void update_resistance_estimate(); |
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// updates failsafe timers, and returns what failsafes are active |
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AP_BattMonitor::BatteryFailsafe update_failsafes(void); |
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// returns false if we fail arming checks, in which case the buffer will be populated with a failure message |
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bool arming_checks(char * buffer, size_t buflen) const; |
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// reset remaining percentage to given value |
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virtual bool reset_remaining(float percentage); |
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protected: |
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AP_BattMonitor &_mon; // reference to front-end |
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AP_BattMonitor::BattMonitor_State &_state; // reference to this instances state (held in the front-end) |
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AP_BattMonitor_Params &_params; // reference to this instances parameters (held in the front-end) |
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// checks what failsafes could be triggered |
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void check_failsafe_types(bool &low_voltage, bool &low_capacity, bool &critical_voltage, bool &critical_capacity) const; |
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private: |
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// resistance estimate |
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uint32_t _resistance_timer_ms; // system time of last resistance estimate update |
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float _voltage_filt; // filtered voltage |
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float _current_max_amps; // maximum current since start-up |
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float _current_filt_amps; // filtered current |
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float _resistance_voltage_ref; // voltage used for maximum resistance calculation |
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float _resistance_current_ref; // current used for maximum resistance calculation |
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};
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