#include <airbourne_board.h>

Inheritance diagram for rosflight_firmware::AirbourneBoard:

Public Member Functions
	AirbourneBoard ()

bool	baro_present () override

void	baro_read (float pressure, float temperature) override

void	baro_update () override

void	board_reset (bool bootloader) override

void	clock_delay (uint32_t milliseconds) override

uint64_t	clock_micros () override

uint32_t	clock_millis () override

bool	diff_pressure_present () override

void	diff_pressure_read (float diff_pressure, float temperature) override

void	diff_pressure_update () override

rosflight_firmware::BackupData	get_backup_data () override

bool	gnss_has_new_data () override

bool	gnss_present () override

GNSSRaw	gnss_raw_read () override

GNSSData	gnss_read () override

void	gnss_update () override

bool	has_backup_data () override

void	imu_not_responding_error () override

bool	imu_read (float accel[3], float temperature, float gyro[3], uint64_t time_us) override

void	init_board () override

void	led0_off () override

void	led0_on () override

void	led0_toggle () override

void	led1_off () override

void	led1_on () override

void	led1_toggle () override

bool	mag_present () override

void	mag_read (float mag[3]) override

void	mag_update () override

void	memory_init () override

bool	memory_read (void *dest, size_t len) override

bool	memory_write (const void *src, size_t len) override

bool	new_imu_data () override

uint16_t	num_sensor_errors () override

void	pwm_disable () override

void	pwm_init (uint32_t refresh_rate, uint16_t idle_pwm) override

void	pwm_write (uint8_t channel, float value) override

void	rc_init (rc_type_t rc_type) override

bool	rc_lost () override

float	rc_read (uint8_t channel) override

void	sensors_init () override

uint16_t	serial_bytes_available () override

void	serial_flush () override

void	serial_init (uint32_t baud_rate, uint32_t dev) override

uint8_t	serial_read () override

void	serial_write (const uint8_t *src, size_t len) override

bool	sonar_present () override

float	sonar_read () override

void	sonar_update () override

Private Types
enum	{ SONAR_NONE, SONAR_I2C, SONAR_PWM }

enum	SerialDevice : uint32_t { SERIAL_DEVICE_VCP = 0, SERIAL_DEVICE_UART3 = 3 }

Private Attributes
float	_accel_scale = 1.0

int	_board_revision = 2

float	_gyro_scale = 1.0

MS4525	airspeed_

MS5611	baro_

Serial *	current_serial_

PWM_OUT	esc_out_ [PWM_NUM_OUTPUTS]

I2C	ext_i2c_

M25P16	flash_

UBLOX	gnss_

MPU6000	imu_

std::function< void()>	imu_callback_

uint64_t	imu_time_us_

I2C	int_i2c_

GPIO	inv_pin_

LED	led1_

LED	led2_

HMC5883L	mag_

bool	new_imu_data_

RC_BASE *	rc_ = nullptr

RC_PPM	rc_ppm_

RC_SBUS	rc_sbus_

UART	sbus_uart_

SerialDevice	secondary_serial_device_ = SERIAL_DEVICE_VCP

I2CSonar	sonar_

uint8_t	sonar_type = SONAR_NONE

SPI	spi1_

SPI	spi3_

UART	uart3_

VCP	vcp_

Additional Inherited Members
Public Types inherited from rosflight_firmware::Board
enum	rc_type_t { RC_TYPE_PPM = 0, RC_TYPE_SBUS = 1 }

Detailed Description

Definition at line 67 of file airbourne_board.h.

Member Enumeration Documentation

anonymous enum

private

Enumerator
SONAR_NONE
SONAR_I2C
SONAR_PWM

Definition at line 109 of file airbourne_board.h.

enum rosflight_firmware::AirbourneBoard::SerialDevice : uint32_t

private

Enumerator
SERIAL_DEVICE_VCP
SERIAL_DEVICE_UART3

Definition at line 93 of file airbourne_board.h.

Constructor & Destructor Documentation

rosflight_firmware::AirbourneBoard::AirbourneBoard ( )

Definition at line 37 of file airbourne_board.cpp.

Member Function Documentation

bool rosflight_firmware::AirbourneBoard::baro_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 196 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::baro_read	(	float *	pressure,
		float *	temperature
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 207 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::baro_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 202 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::board_reset ( bool bootloader )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 58 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::clock_delay ( uint32_t milliseconds )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 75 of file airbourne_board.cpp.

uint64_t rosflight_firmware::AirbourneBoard::clock_micros ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 70 of file airbourne_board.cpp.

uint32_t rosflight_firmware::AirbourneBoard::clock_millis ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 65 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::diff_pressure_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 213 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::diff_pressure_read	(	float *	diff_pressure,
		float *	temperature
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 224 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::diff_pressure_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 218 of file airbourne_board.cpp.

rosflight_firmware::BackupData rosflight_firmware::AirbourneBoard::get_backup_data ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 431 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::gnss_has_new_data ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 252 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::gnss_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 247 of file airbourne_board.cpp.

GNSSRaw rosflight_firmware::AirbourneBoard::gnss_raw_read ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 297 of file airbourne_board.cpp.

GNSSData rosflight_firmware::AirbourneBoard::gnss_read ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 259 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::gnss_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 251 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::has_backup_data ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 426 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::imu_not_responding_error ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 175 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::imu_read	(	float	accel[3],
		float *	temperature,
		float	gyro[3],
		uint64_t *	time_us
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 159 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::init_board ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 41 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::led0_off ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 403 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::led0_on ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 399 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::led0_toggle ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 407 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::led1_off ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 416 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::led1_on ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 412 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::led1_toggle ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 420 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::mag_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 180 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::mag_read ( float mag[3] )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 191 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::mag_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 186 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::memory_init ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 383 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::memory_read	(	void *	dest,
		size_t	len
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 388 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::memory_write	(	const void *	src,
		size_t	len
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 393 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::new_imu_data ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 154 of file airbourne_board.cpp.

uint16_t rosflight_firmware::AirbourneBoard::num_sensor_errors ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 149 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::pwm_disable ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 364 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::pwm_init	(	uint32_t	refresh_rate,
		uint16_t	idle_pwm
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 355 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::pwm_write	(	uint8_t	channel,
		float	value
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 372 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::rc_init ( rc_type_t rc_type )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 332 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::rc_lost ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 377 of file airbourne_board.cpp.

float rosflight_firmware::AirbourneBoard::rc_read ( uint8_t channel )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 350 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::sensors_init ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 137 of file airbourne_board.cpp.

uint16_t rosflight_firmware::AirbourneBoard::serial_bytes_available ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 102 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::serial_flush ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 130 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::serial_init	(	uint32_t	baud_rate,
		uint32_t	dev
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 81 of file airbourne_board.cpp.

uint8_t rosflight_firmware::AirbourneBoard::serial_read ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 124 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::serial_write	(	const uint8_t *	src,
		size_t	len
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 97 of file airbourne_board.cpp.

bool rosflight_firmware::AirbourneBoard::sonar_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 232 of file airbourne_board.cpp.

float rosflight_firmware::AirbourneBoard::sonar_read ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 242 of file airbourne_board.cpp.

void rosflight_firmware::AirbourneBoard::sonar_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 237 of file airbourne_board.cpp.

Member Data Documentation

float rosflight_firmware::AirbourneBoard::_accel_scale = 1.0

private

Definition at line 106 of file airbourne_board.h.

int rosflight_firmware::AirbourneBoard::_board_revision = 2

private

Definition at line 104 of file airbourne_board.h.

float rosflight_firmware::AirbourneBoard::_gyro_scale = 1.0

private

Definition at line 107 of file airbourne_board.h.

MS4525 rosflight_firmware::AirbourneBoard::airspeed_

private

Definition at line 81 of file airbourne_board.h.

MS5611 rosflight_firmware::AirbourneBoard::baro_

private

Definition at line 80 of file airbourne_board.h.

Serial* rosflight_firmware::AirbourneBoard::current_serial_

private

Definition at line 73 of file airbourne_board.h.

PWM_OUT rosflight_firmware::AirbourneBoard::esc_out_[PWM_NUM_OUTPUTS]

private

Definition at line 87 of file airbourne_board.h.

I2C rosflight_firmware::AirbourneBoard::ext_i2c_

private

Definition at line 75 of file airbourne_board.h.

M25P16 rosflight_firmware::AirbourneBoard::flash_

private

Definition at line 90 of file airbourne_board.h.

UBLOX rosflight_firmware::AirbourneBoard::gnss_

private

Definition at line 91 of file airbourne_board.h.

MPU6000 rosflight_firmware::AirbourneBoard::imu_

private

Definition at line 78 of file airbourne_board.h.

std::function<void()> rosflight_firmware::AirbourneBoard::imu_callback_

private

Definition at line 102 of file airbourne_board.h.

uint64_t rosflight_firmware::AirbourneBoard::imu_time_us_

private

Definition at line 118 of file airbourne_board.h.

I2C rosflight_firmware::AirbourneBoard::int_i2c_

private

Definition at line 74 of file airbourne_board.h.

GPIO rosflight_firmware::AirbourneBoard::inv_pin_

private

Definition at line 86 of file airbourne_board.h.

LED rosflight_firmware::AirbourneBoard::led1_

private

Definition at line 89 of file airbourne_board.h.

LED rosflight_firmware::AirbourneBoard::led2_

private

Definition at line 88 of file airbourne_board.h.

HMC5883L rosflight_firmware::AirbourneBoard::mag_

private

Definition at line 79 of file airbourne_board.h.

bool rosflight_firmware::AirbourneBoard::new_imu_data_

private

Definition at line 117 of file airbourne_board.h.

RC_BASE* rosflight_firmware::AirbourneBoard::rc_ = nullptr

private

Definition at line 100 of file airbourne_board.h.

RC_PPM rosflight_firmware::AirbourneBoard::rc_ppm_

private

Definition at line 82 of file airbourne_board.h.

RC_SBUS rosflight_firmware::AirbourneBoard::rc_sbus_

private

Definition at line 84 of file airbourne_board.h.

UART rosflight_firmware::AirbourneBoard::sbus_uart_

private

Definition at line 85 of file airbourne_board.h.

SerialDevice rosflight_firmware::AirbourneBoard::secondary_serial_device_ = SERIAL_DEVICE_VCP

private

Definition at line 98 of file airbourne_board.h.

I2CSonar rosflight_firmware::AirbourneBoard::sonar_

private

Definition at line 83 of file airbourne_board.h.

uint8_t rosflight_firmware::AirbourneBoard::sonar_type = SONAR_NONE

private

Definition at line 115 of file airbourne_board.h.

SPI rosflight_firmware::AirbourneBoard::spi1_

private

Definition at line 76 of file airbourne_board.h.

SPI rosflight_firmware::AirbourneBoard::spi3_

private

Definition at line 77 of file airbourne_board.h.

UART rosflight_firmware::AirbourneBoard::uart3_

private

Definition at line 72 of file airbourne_board.h.

VCP rosflight_firmware::AirbourneBoard::vcp_

private

Definition at line 71 of file airbourne_board.h.

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

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation