text: /****************************************************************************
   *
   *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
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   * Redistribution and use in source and binary forms, with or without
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   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
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   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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   ****************************************************************************/
  
  #pragma once
  
  #include <battery/battery.h>
  #include <parameters/param.h>
  
  class AnalogBattery : public Battery
  {
  public:
  	AnalogBattery(int index, ModuleParams *parent);
  
  	/**
  	 * Update current battery status message.
  	 *
  	 * @param voltage_raw Battery voltage read from ADC, volts
  	 * @param current_raw Voltage of current sense resistor, volts
  	 * @param timestamp Time at which the ADC was read (use hrt_absolute_time())
  	 * @param source The source as defined by param BAT%d_SOURCE
  	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
  	 * @param throttle_normalized Throttle of the vehicle, between 0 and 1
  	 */
  	void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
  				    int source, int priority, float throttle_normalized);
  
  	/**
  	 * Whether the ADC channel for the voltage of this battery is valid.
  	 * Corresponds to BOARD_BRICK_VALID_LIST
  	 */
  	bool is_valid();
  
  	/**
  	 * Which ADC channel is used for voltage reading of this battery
  	 */
  	int get_voltage_channel();
  
  	/**
  	 * Which ADC channel is used for current reading of this battery
  	 */
  	int get_current_channel();
  
  protected:
  
  	struct {
  		param_t v_offs_cur;
  		param_t v_div;
  		param_t a_per_v;
  		param_t v_channel;
  		param_t i_channel;
  
  		param_t v_div_old;
  		param_t a_per_v_old;
  		param_t adc_channel_old;
  	} _analog_param_handles;
  
  	struct {
  		float v_offs_cur;
  		float v_div;
  		float a_per_v;
  		int v_channel;
  		int i_channel;
  
  		float v_div_old;
  		float a_per_v_old;
  		int adc_channel_old;
  	} _analog_params;
  
  	virtual void updateParams() override;
  };
  