Inheritance diagram for BatteryStatus:

Collaboration diagram for BatteryStatus:

Public Member Functions
	BatteryStatus ()

	~BatteryStatus () override

void	Run () override

bool	init ()

int	print_status () override

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Private Member Functions
int	parameters_update ()
	Update our local parameter cache. More...

int	adc_init ()
	Do adc-related initialisation. More...

void	parameter_update_poll (bool forced=false)
	Check for changes in parameters. More...

void	adc_poll ()
	Poll the ADC and update readings to suit. More...

Private Attributes
DevHandle	_h_adc
	ADC driver handle. More...

bool	_armed {false}
	arming status of the vehicle More...

uORB::Subscription	_actuator_ctrl_0_sub {ORB_ID(actuator_controls_0)}
	attitude controls sub More...

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}
	notification of parameter updates More...

uORB::Subscription	_vcontrol_mode_sub {ORB_ID(vehicle_control_mode)}
	vehicle control mode subscription More...

orb_advert_t	_battery_pub [BOARD_NUMBER_BRICKS] {}
	battery status More...

Battery	_battery [BOARD_NUMBER_BRICKS]
	Helper lib to publish battery_status topic. More...

perf_counter_t	_loop_perf
	loop performance counter More...

hrt_abstime	_last_config_update {0}

Parameters	_parameters {}
	local copies of interesting parameters More...

ParameterHandles	_parameter_handles {}
	handles for interesting parameters More...

Detailed Description

Definition at line 110 of file battery_status.cpp.

Constructor & Destructor Documentation

◆ BatteryStatus()

BatteryStatus::BatteryStatus ( )

Definition at line 178 of file battery_status.cpp.

References _battery, _parameter_handles, and battery_status::initialize_parameter_handles().

Referenced by task_spawn().

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◆ ~BatteryStatus()

BatteryStatus::~BatteryStatus ( )

override

Definition at line 190 of file battery_status.cpp.

Member Function Documentation

◆ adc_init()

int BatteryStatus::adc_init ( )

private

Do adc-related initialisation.

Definition at line 209 of file battery_status.cpp.

References _h_adc, ADC0_DEVICE_PATH, and OK.

Referenced by Run().

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◆ adc_poll()

void BatteryStatus::adc_poll ( )

private

Poll the ADC and update readings to suit.

Parameters

raw	Combined sensor data structure into which data should be returned.

Definition at line 237 of file battery_status.cpp.

References _actuator_ctrl_0_sub, _armed, _battery, _battery_pub, _h_adc, _parameters, battery_status::Parameters::battery_a_per_v, battery_status::Parameters::battery_adc_channel, battery_status::Parameters::battery_current_offset, battery_status::Parameters::battery_current_scaling, battery_status::Parameters::battery_source, battery_status::Parameters::battery_v_div, battery_status::Parameters::battery_voltage_scaling, uORB::Subscription::copy(), hrt_absolute_time(), ll40ls::instance, orb_advert_t, ORB_ID, ORB_PRIO_DEFAULT, orb_publish_auto(), px4_adc_msg_t, PX4_MAX_ADC_CHANNELS, and Battery::updateBatteryStatus().

Referenced by Run().

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◆ custom_command()

int BatteryStatus::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 417 of file battery_status.cpp.

References print_usage().

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◆ init()

bool BatteryStatus::init ( )

Definition at line 405 of file battery_status.cpp.

Referenced by task_spawn().

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◆ parameter_update_poll()

void BatteryStatus::parameter_update_poll ( bool forced = false )

private

Check for changes in parameters.

Definition at line 222 of file battery_status.cpp.

References _parameter_update_sub, uORB::Subscription::copy(), parameters_update(), and uORB::Subscription::updated().

Referenced by Run().

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◆ parameters_update()

int BatteryStatus::parameters_update ( )

private

Update our local parameter cache.

Definition at line 196 of file battery_status.cpp.

References _parameter_handles, _parameters, and battery_status::update_parameters().

Referenced by parameter_update_poll().

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◆ print_status()

int BatteryStatus::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 412 of file battery_status.cpp.

◆ print_usage()

int BatteryStatus::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 422 of file battery_status.cpp.

Referenced by custom_command().

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◆ Run()

void BatteryStatus::Run ( )

override

Definition at line 351 of file battery_status.cpp.

References _armed, _h_adc, _loop_perf, _vcontrol_mode_sub, adc_init(), adc_poll(), uORB::Subscription::copy(), parameter_update_poll(), perf_begin(), perf_end(), and uORB::Subscription::updated().

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◆ task_spawn()

int BatteryStatus::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 381 of file battery_status.cpp.

References BatteryStatus(), init(), and ll40ls::instance.

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Member Data Documentation

◆ _actuator_ctrl_0_sub

uORB::Subscription BatteryStatus::_actuator_ctrl_0_sub {ORB_ID(actuator_controls_0)}

private

attitude controls sub

Definition at line 136 of file battery_status.cpp.

Referenced by adc_poll().

◆ _armed

bool BatteryStatus::_armed {false}

private

arming status of the vehicle

Definition at line 134 of file battery_status.cpp.

Referenced by adc_poll(), and Run().

◆ _battery

Battery BatteryStatus::_battery[BOARD_NUMBER_BRICKS]

private

Helper lib to publish battery_status topic.

Definition at line 141 of file battery_status.cpp.

Referenced by adc_poll(), and BatteryStatus().

◆ _battery_pub

orb_advert_t BatteryStatus::_battery_pub[BOARD_NUMBER_BRICKS] {}

private

battery status

Definition at line 140 of file battery_status.cpp.

Referenced by adc_poll().

◆ _h_adc

DevHandle BatteryStatus::_h_adc

private

ADC driver handle.

Definition at line 132 of file battery_status.cpp.

Referenced by adc_init(), adc_poll(), and Run().

◆ _last_config_update

hrt_abstime BatteryStatus::_last_config_update {0}

private

Definition at line 149 of file battery_status.cpp.

◆ _loop_perf

perf_counter_t BatteryStatus::_loop_perf

private

loop performance counter

Definition at line 147 of file battery_status.cpp.

Referenced by Run().

◆ _parameter_handles

ParameterHandles BatteryStatus::_parameter_handles {}

private

handles for interesting parameters

Definition at line 152 of file battery_status.cpp.

Referenced by BatteryStatus(), and parameters_update().

◆ _parameter_update_sub

uORB::Subscription BatteryStatus::_parameter_update_sub {ORB_ID(parameter_update)}

private

notification of parameter updates

Definition at line 137 of file battery_status.cpp.

Referenced by parameter_update_poll().

◆ _parameters

Parameters BatteryStatus::_parameters {}

private

local copies of interesting parameters

Definition at line 151 of file battery_status.cpp.

Referenced by adc_poll(), and parameters_update().

◆ _vcontrol_mode_sub

uORB::Subscription BatteryStatus::_vcontrol_mode_sub {ORB_ID(vehicle_control_mode)}

private

vehicle control mode subscription

Definition at line 138 of file battery_status.cpp.

Referenced by Run().

The documentation for this class was generated from the following file:

src/modules/battery_status/battery_status.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BatteryStatus()

◆ ~BatteryStatus()

Member Function Documentation

◆ adc_init()

◆ adc_poll()

◆ custom_command()

◆ init()

◆ parameter_update_poll()

◆ parameters_update()

◆ print_status()

◆ print_usage()

◆ Run()

◆ task_spawn()

Member Data Documentation

◆ _actuator_ctrl_0_sub

◆ _armed

◆ _battery

◆ _battery_pub

◆ _h_adc

◆ _last_config_update

◆ _loop_perf

◆ _parameter_handles

◆ _parameter_update_sub

◆ _parameters

◆ _vcontrol_mode_sub