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battery: fetch throttle value inside of class

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This commit is contained in:
Matthias Grob
2021-12-07 21:06:51 +01:00
parent ddc6b6bc9c
commit b965923c08
17 changed files with 38 additions and 81 deletions
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src/drivers/power_monitor/ina226/ina226.cpp
+3 -8
View File
@@ -89,8 +89,7 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
0.0,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0
0
);
}
@@ -231,16 +230,13 @@ INA226::collect()
_bus_voltage = _power = _current = _shunt = 0;
}
_actuators_sub.copy(&_actuator_controls);
_battery.updateBatteryStatus(
hrt_absolute_time(),
(float) _bus_voltage * INA226_VSCALE,
(float) _current * _current_lsb,
success,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE]
0
);
perf_end(_sample_perf);
@@ -310,8 +306,7 @@ INA226::RunImpl()
0.0f,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0f
0
);
if (init() != PX4_OK) {
src/drivers/power_monitor/ina226/ina226.h
-5
View File
@@ -45,9 +45,7 @@
#include <lib/perf/perf_counter.h>
#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <px4_platform_common/i2c_spi_buses.h>
@@ -202,10 +200,7 @@ private:
float _current_lsb{_max_current / DN_MAX};
float _power_lsb{25.0f * _current_lsb};
actuator_controls_s _actuator_controls{};
Battery _battery;
uORB::Subscription _actuators_sub{ORB_ID(actuator_controls_0)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
int read(uint8_t address, int16_t &data);
src/drivers/power_monitor/ina228/ina228.cpp
+3 -8
View File
@@ -91,8 +91,7 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
0.0,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0
0
);
}
@@ -312,16 +311,13 @@ INA228::collect()
_bus_voltage = _power = _current = _shunt = 0;
}
_actuators_sub.copy(&_actuator_controls);
_battery.updateBatteryStatus(
hrt_absolute_time(),
(float) _bus_voltage * INA228_VSCALE,
(float) _current * _current_lsb,
success,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE]
0
);
perf_end(_sample_perf);
@@ -391,8 +387,7 @@ INA228::RunImpl()
0.0f,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0f
0
);
if (init() != PX4_OK) {
src/drivers/power_monitor/ina228/ina228.h
-5
View File
@@ -45,9 +45,7 @@
#include <lib/perf/perf_counter.h>
#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <px4_platform_common/i2c_spi_buses.h>
@@ -352,10 +350,7 @@ private:
float _current_lsb{_max_current / DN_MAX};
float _power_lsb{25.0f * _current_lsb};
actuator_controls_s _actuator_controls{};
Battery _battery;
uORB::Subscription _actuators_sub{ORB_ID(actuator_controls_0)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
int read(uint8_t address, int16_t &data);
src/drivers/power_monitor/ina238/ina238.cpp
+3 -8
View File
@@ -74,8 +74,7 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
0.0,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0
0
);
}
@@ -199,16 +198,13 @@ int INA238::collect()
bus_voltage = current = 0;
}
_actuators_sub.copy(&_actuator_controls);
_battery.updateBatteryStatus(
hrt_absolute_time(),
(float) bus_voltage * INA238_VSCALE,
(float) current * _current_lsb,
success,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE]
0
);
perf_end(_sample_perf);
@@ -269,8 +265,7 @@ void INA238::RunImpl()
0.0f,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0f
0
);
if (init() != PX4_OK) {
src/drivers/power_monitor/ina238/ina238.h
-5
View File
@@ -41,9 +41,7 @@
#include <lib/perf/perf_counter.h>
#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <px4_platform_common/i2c_spi_buses.h>
@@ -338,10 +336,7 @@ private:
float _current_lsb;
int16_t _range;
actuator_controls_s _actuator_controls{};
Battery _battery;
uORB::Subscription _actuators_sub{ORB_ID(actuator_controls_0)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
int read(uint8_t address, uint16_t &data);
src/drivers/power_monitor/voxlpm/voxlpm.cpp
+3 -8
View File
@@ -77,8 +77,7 @@ VOXLPM::init()
0.0,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0
0
);
}
@@ -346,15 +345,12 @@ VOXLPM::measure()
if (ret == PX4_OK) {
switch (_ch_type) {
case VOXLPM_CH_TYPE_VBATT: {
_actuators_sub.copy(&_actuator_controls);
_battery.updateBatteryStatus(tnow,
_voltage,
_amperage,
true,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE]);
0);
}
// fallthrough
@@ -382,8 +378,7 @@ VOXLPM::measure()
0.0,
true,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0);
0);
}
break;
src/drivers/power_monitor/voxlpm/voxlpm.hpp
-4
View File
@@ -88,9 +88,7 @@
#include <battery/battery.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/power_monitor.h>
#include <uORB/topics/parameter_update.h>
@@ -267,8 +265,6 @@ private:
int16_t _cal{0};
Battery _battery;
uORB::Subscription _actuators_sub{ORB_ID(actuator_controls_0)};
actuator_controls_s _actuator_controls{};
uint8_t read_reg(uint8_t addr);
int read_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);