Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_BattMonitor_Backend.h"
       4             : 
       5             : #if AP_BATTERY_SMBUS_ENABLED
       6             : 
       7             : #include <AP_Common/AP_Common.h>
       8             : #include <AP_Param/AP_Param.h>
       9             : #include <AP_Math/AP_Math.h>
      10             : #include <AP_HAL/I2CDevice.h>
      11             : #include <utility>
      12             : 
      13             : #define AP_BATTMONITOR_SMBUS_BUS_INTERNAL           0
      14             : #define AP_BATTMONITOR_SMBUS_BUS_EXTERNAL           1
      15             : #define AP_BATTMONITOR_SMBUS_I2C_ADDR               0x0B
      16             : #define AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS         5000000         // sensor becomes unhealthy if no successful readings for 5 seconds
      17             : #define AP_BATTMONITOR_SMBUS_READ_BLOCK_MAXIMUM_TRANSFER 0x20       // A Block Read or Write is allowed to transfer a maximum of 32 data bytes.
      18             : 
      19             : class AP_BattMonitor_SMBus : public AP_BattMonitor_Backend
      20             : {
      21             : public:
      22             : 
      23             :     // Smart Battery Data Specification Revision 1.1
      24             :     enum BATTMONITOR_SMBUS {
      25             :         BATTMONITOR_SMBUS_TEMP = 0x08,                 // Temperature
      26             :         BATTMONITOR_SMBUS_VOLTAGE = 0x09,              // Voltage
      27             :         BATTMONITOR_SMBUS_CURRENT = 0x0A,              // Current
      28             :         BATTMONITOR_SMBUS_REMAINING_CAPACITY = 0x0F,   // Remaining Capacity
      29             :         BATTMONITOR_SMBUS_FULL_CHARGE_CAPACITY = 0x10, // Full Charge Capacity
      30             :         BATTMONITOR_SMBUS_CYCLE_COUNT = 0x17,          // Cycle Count
      31             :         BATTMONITOR_SMBUS_SPECIFICATION_INFO = 0x1A,   // Specification Info
      32             :         BATTMONITOR_SMBUS_SERIAL = 0x1C,               // Serial Number
      33             :         BATTMONITOR_SMBUS_MANUFACTURE_NAME = 0x20,     // Manufacture Name
      34             :         BATTMONITOR_SMBUS_MANUFACTURE_DATA = 0x23,     // Manufacture Data
      35             :     };
      36             : 
      37             :     /// Constructor
      38             :     AP_BattMonitor_SMBus(AP_BattMonitor &mon,
      39             :                     AP_BattMonitor::BattMonitor_State &mon_state,
      40             :                     AP_BattMonitor_Params &params,
      41             :                     uint8_t i2c_bus);
      42             : 
      43             :     // virtual destructor to reduce compiler warnings
      44           0 :     virtual ~AP_BattMonitor_SMBus() {}
      45             : 
      46         602 :     bool has_cell_voltages() const override { return _has_cell_voltages; }
      47             : 
      48         602 :     bool has_temperature() const override { return _has_temperature; }
      49             : 
      50             :     // all smart batteries are expected to provide current
      51        2628 :     bool has_current() const override { return true; }
      52             : 
      53             :     // don't allow reset of remaining capacity for SMBus
      54           0 :     bool reset_remaining(float percentage) override { return false; }
      55             : 
      56             :     // return true if cycle count can be provided and fills in cycles argument
      57             :     bool get_cycle_count(uint16_t &cycles) const override;
      58             : 
      59             :     virtual void init(void) override;
      60             : 
      61             :     static const struct AP_Param::GroupInfo var_info[];
      62             : 
      63             : protected:
      64             : 
      65             :     void read(void) override;
      66             : 
      67             :     // reads the pack full charge capacity
      68             :     void read_full_charge_capacity(void);
      69             : 
      70             :     // reads the remaining capacity
      71             :     // which will only be read if we know the full charge capacity (accounting for battery degradation)
      72             :     void read_remaining_capacity(void);
      73             : 
      74             :     // return a scaler that should be multiplied by the battery's reported capacity numbers to arrive at the actual capacity in mAh
      75           0 :     virtual uint16_t get_capacity_scaler() const { return 1; }
      76             : 
      77             :     // reads the temperature word from the battery
      78             :     virtual void read_temp(void);
      79             : 
      80             :     // reads the serial number if it's not already known
      81             :     // returns if the serial number was already known
      82             :     void read_serial_number(void);
      83             : 
      84             :     // reads the battery's cycle count
      85             :     void read_cycle_count();
      86             : 
      87             :      // read word from register
      88             :      // returns true if read was successful, false if failed
      89             :     bool read_word(uint8_t reg, uint16_t& data) const;
      90             : 
      91             :     // read_block - returns number of characters read if successful, zero if unsuccessful
      92             :     uint8_t read_block(uint8_t reg, uint8_t* data, uint8_t len) const;
      93             : 
      94             :     // get_PEC - calculate PEC for a read or write from the battery
      95             :     // buff is the data that was read or will be written
      96             :     uint8_t get_PEC(const uint8_t i2c_addr, uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const;
      97             : 
      98             :     AP_HAL::I2CDevice *_dev;
      99             :     bool _pec_supported; // true if PEC is supported
     100             : 
     101             :     int32_t _serial_number = -1;    // battery serial number
     102             :     uint16_t _full_charge_capacity; // full charge capacity, used to stash the value before setting the parameter
     103             :     bool _has_cell_voltages;        // smbus backends flag this as true once they have received a valid cell voltage report
     104             :     uint16_t _cycle_count = 0;      // number of cycles the battery has experienced. An amount of discharge approximately equal to the value of DesignCapacity.
     105             :     bool _has_cycle_count;          // true if cycle count has been retrieved from the battery
     106             :     bool _has_temperature;
     107             : 
     108             :     virtual void timer(void) = 0;   // timer function to read from the battery
     109             : 
     110             :     AP_HAL::Device::PeriodicHandle timer_handle;
     111             : 
     112             :     // Parameters
     113             :     AP_Int8  _bus;          // I2C bus number
     114             :     AP_Int8  _address;      // I2C address
     115             : 
     116             : };
     117             : 
     118             : #endif  // AP_BATTERY_SMBUS_ENABLED