/* Battery SMBus PX4 driver */ /* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #include #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #include "AP_BattMonitor_SMBus_PX4.h" #include #include #include #include #include #include extern const AP_HAL::HAL& hal; // Constructor AP_BattMonitor_SMBus_PX4::AP_BattMonitor_SMBus_PX4(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state) : AP_BattMonitor_SMBus(mon, instance, mon_state) { // orb subscription for battery status _batt_sub = orb_subscribe(ORB_ID(battery_status)); } // read - read latest voltage and current void AP_BattMonitor_SMBus_PX4::read() { bool updated = false; struct battery_status_s batt_status; // check if new info has arrived from the orb orb_check(_batt_sub, &updated); // retrieve latest info if (updated) { if (OK == orb_copy(ORB_ID(battery_status), _batt_sub, &batt_status)) { _state.voltage = batt_status.voltage_v; _state.current_amps = batt_status.current_a; _state.last_time_micros = hal.scheduler->micros(); } } } #endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4