#include <airbourne_board.h>

Inheritance diagram for rosflight_firmware::AirbourneBoard:

Public Member Functions
	AirbourneBoard ()

void	backup_memory_clear (size_t len) override

void	backup_memory_init () override

bool	backup_memory_read (void *dest, size_t len) override

void	backup_memory_write (const void *src, size_t len) override

bool	baro_present () override

void	baro_read (float pressure, float temperature) override

void	baro_update () override

bool	battery_current_present () const override

float	battery_current_read () const override

void	battery_current_set_multiplier (double multiplier) override

bool	battery_voltage_present () const override

float	battery_voltage_read () const override

void	battery_voltage_set_multiplier (double multiplier) 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

GNSSFull	gnss_full_read () override

bool	gnss_has_new_data () override

bool	gnss_present () override

GNSSData	gnss_read () override

void	gnss_update () 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_

AnalogDigitalConverter	battery_adc_

BatteryMonitor	battery_monitor_

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_

SerialDevice	secondary_serial_device_ = SERIAL_DEVICE_VCP

I2CSonar	sonar_

uint8_t	sonar_type = SONAR_NONE

SPI	spi1_

SPI	spi3_

UART	uart1_

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

anonymous enum

private

Enumerator
SONAR_NONE
SONAR_I2C
SONAR_PWM

Definition at line 110 of file airbourne_board.h.

◆ SerialDevice

enum rosflight_firmware::AirbourneBoard::SerialDevice : uint32_t

private

Enumerator
SERIAL_DEVICE_VCP
SERIAL_DEVICE_UART3

Definition at line 94 of file airbourne_board.h.

Constructor & Destructor Documentation

◆ AirbourneBoard()

rosflight_firmware::AirbourneBoard::AirbourneBoard ( )

Definition at line 36 of file airbourne_board.cpp.

Member Function Documentation

◆ backup_memory_clear()

void rosflight_firmware::AirbourneBoard::backup_memory_clear ( size_t len )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 482 of file airbourne_board.cpp.

◆ backup_memory_init()

void rosflight_firmware::AirbourneBoard::backup_memory_init ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 466 of file airbourne_board.cpp.

◆ backup_memory_read()

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

overridevirtual

<

Todo:: backup_sram_read() has no return value

Implements rosflight_firmware::Board.

Definition at line 471 of file airbourne_board.cpp.

◆ backup_memory_write()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 477 of file airbourne_board.cpp.

◆ baro_present()

bool rosflight_firmware::AirbourneBoard::baro_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 196 of file airbourne_board.cpp.

◆ baro_read()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 207 of file airbourne_board.cpp.

◆ baro_update()

void rosflight_firmware::AirbourneBoard::baro_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 202 of file airbourne_board.cpp.

◆ battery_current_present()

bool rosflight_firmware::AirbourneBoard::battery_current_present ( ) const

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 349 of file airbourne_board.cpp.

◆ battery_current_read()

float rosflight_firmware::AirbourneBoard::battery_current_read ( ) const

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 354 of file airbourne_board.cpp.

◆ battery_current_set_multiplier()

void rosflight_firmware::AirbourneBoard::battery_current_set_multiplier ( double multiplier )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 359 of file airbourne_board.cpp.

◆ battery_voltage_present()

bool rosflight_firmware::AirbourneBoard::battery_voltage_present ( ) const

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 334 of file airbourne_board.cpp.

◆ battery_voltage_read()

float rosflight_firmware::AirbourneBoard::battery_voltage_read ( ) const

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 339 of file airbourne_board.cpp.

◆ battery_voltage_set_multiplier()

void rosflight_firmware::AirbourneBoard::battery_voltage_set_multiplier ( double multiplier )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 344 of file airbourne_board.cpp.

◆ board_reset()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 56 of file airbourne_board.cpp.

◆ clock_delay()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 73 of file airbourne_board.cpp.

◆ clock_micros()

uint64_t rosflight_firmware::AirbourneBoard::clock_micros ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 68 of file airbourne_board.cpp.

◆ clock_millis()

uint32_t rosflight_firmware::AirbourneBoard::clock_millis ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 63 of file airbourne_board.cpp.

◆ diff_pressure_present()

bool rosflight_firmware::AirbourneBoard::diff_pressure_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 213 of file airbourne_board.cpp.

◆ diff_pressure_read()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 223 of file airbourne_board.cpp.

◆ diff_pressure_update()

void rosflight_firmware::AirbourneBoard::diff_pressure_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 218 of file airbourne_board.cpp.

◆ gnss_full_read()

GNSSFull rosflight_firmware::AirbourneBoard::gnss_full_read ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 300 of file airbourne_board.cpp.

◆ gnss_has_new_data()

bool rosflight_firmware::AirbourneBoard::gnss_has_new_data ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 252 of file airbourne_board.cpp.

◆ gnss_present()

bool rosflight_firmware::AirbourneBoard::gnss_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 246 of file airbourne_board.cpp.

◆ gnss_read()

GNSSData rosflight_firmware::AirbourneBoard::gnss_read ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 259 of file airbourne_board.cpp.

◆ gnss_update()

void rosflight_firmware::AirbourneBoard::gnss_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 251 of file airbourne_board.cpp.

◆ imu_not_responding_error()

void rosflight_firmware::AirbourneBoard::imu_not_responding_error ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 175 of file airbourne_board.cpp.

◆ imu_read()

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.

◆ init_board()

void rosflight_firmware::AirbourneBoard::init_board ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 38 of file airbourne_board.cpp.

◆ led0_off()

void rosflight_firmware::AirbourneBoard::led0_off ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 440 of file airbourne_board.cpp.

◆ led0_on()

void rosflight_firmware::AirbourneBoard::led0_on ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 435 of file airbourne_board.cpp.

◆ led0_toggle()

void rosflight_firmware::AirbourneBoard::led0_toggle ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 445 of file airbourne_board.cpp.

◆ led1_off()

void rosflight_firmware::AirbourneBoard::led1_off ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 455 of file airbourne_board.cpp.

◆ led1_on()

void rosflight_firmware::AirbourneBoard::led1_on ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 450 of file airbourne_board.cpp.

◆ led1_toggle()

void rosflight_firmware::AirbourneBoard::led1_toggle ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 460 of file airbourne_board.cpp.

◆ mag_present()

bool rosflight_firmware::AirbourneBoard::mag_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 180 of file airbourne_board.cpp.

◆ mag_read()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 191 of file airbourne_board.cpp.

◆ mag_update()

void rosflight_firmware::AirbourneBoard::mag_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 186 of file airbourne_board.cpp.

◆ memory_init()

void rosflight_firmware::AirbourneBoard::memory_init ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 419 of file airbourne_board.cpp.

◆ memory_read()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 424 of file airbourne_board.cpp.

◆ memory_write()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 429 of file airbourne_board.cpp.

◆ new_imu_data()

bool rosflight_firmware::AirbourneBoard::new_imu_data ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 154 of file airbourne_board.cpp.

◆ num_sensor_errors()

uint16_t rosflight_firmware::AirbourneBoard::num_sensor_errors ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 149 of file airbourne_board.cpp.

◆ pwm_disable()

void rosflight_firmware::AirbourneBoard::pwm_disable ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 397 of file airbourne_board.cpp.

◆ pwm_init()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 388 of file airbourne_board.cpp.

◆ pwm_write()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 405 of file airbourne_board.cpp.

◆ rc_init()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 365 of file airbourne_board.cpp.

◆ rc_lost()

bool rosflight_firmware::AirbourneBoard::rc_lost ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 413 of file airbourne_board.cpp.

◆ rc_read()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 383 of file airbourne_board.cpp.

◆ sensors_init()

void rosflight_firmware::AirbourneBoard::sensors_init ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 133 of file airbourne_board.cpp.

◆ serial_bytes_available()

uint16_t rosflight_firmware::AirbourneBoard::serial_bytes_available ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 100 of file airbourne_board.cpp.

◆ serial_flush()

void rosflight_firmware::AirbourneBoard::serial_flush ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 127 of file airbourne_board.cpp.

◆ serial_init()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 79 of file airbourne_board.cpp.

◆ serial_read()

uint8_t rosflight_firmware::AirbourneBoard::serial_read ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 122 of file airbourne_board.cpp.

◆ serial_write()

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

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 95 of file airbourne_board.cpp.

◆ sonar_present()

bool rosflight_firmware::AirbourneBoard::sonar_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 231 of file airbourne_board.cpp.

◆ sonar_read()

float rosflight_firmware::AirbourneBoard::sonar_read ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 241 of file airbourne_board.cpp.

◆ sonar_update()

void rosflight_firmware::AirbourneBoard::sonar_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 236 of file airbourne_board.cpp.

Member Data Documentation

◆ _accel_scale

float rosflight_firmware::AirbourneBoard::_accel_scale = 1.0

private

Definition at line 107 of file airbourne_board.h.

◆ _board_revision

int rosflight_firmware::AirbourneBoard::_board_revision = 2

private

Definition at line 105 of file airbourne_board.h.

◆ _gyro_scale

float rosflight_firmware::AirbourneBoard::_gyro_scale = 1.0

private

Definition at line 108 of file airbourne_board.h.

◆ airspeed_

MS4525 rosflight_firmware::AirbourneBoard::airspeed_

private

Definition at line 81 of file airbourne_board.h.

◆ baro_

MS5611 rosflight_firmware::AirbourneBoard::baro_

private

Definition at line 80 of file airbourne_board.h.

◆ battery_adc_

AnalogDigitalConverter rosflight_firmware::AirbourneBoard::battery_adc_

private

Definition at line 90 of file airbourne_board.h.

◆ battery_monitor_

BatteryMonitor rosflight_firmware::AirbourneBoard::battery_monitor_

private

Definition at line 91 of file airbourne_board.h.

◆ current_serial_

Serial* rosflight_firmware::AirbourneBoard::current_serial_

private

Definition at line 73 of file airbourne_board.h.

◆ esc_out_

PWM_OUT rosflight_firmware::AirbourneBoard::esc_out_[PWM_NUM_OUTPUTS]

private

Definition at line 86 of file airbourne_board.h.

◆ ext_i2c_

I2C rosflight_firmware::AirbourneBoard::ext_i2c_

private

Definition at line 75 of file airbourne_board.h.

◆ flash_

M25P16 rosflight_firmware::AirbourneBoard::flash_

private

Definition at line 89 of file airbourne_board.h.

◆ gnss_

UBLOX rosflight_firmware::AirbourneBoard::gnss_

private

Definition at line 92 of file airbourne_board.h.

◆ imu_

MPU6000 rosflight_firmware::AirbourneBoard::imu_

private

Definition at line 78 of file airbourne_board.h.

◆ imu_callback_

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

private

Definition at line 103 of file airbourne_board.h.

◆ imu_time_us_

uint64_t rosflight_firmware::AirbourneBoard::imu_time_us_

private

Definition at line 119 of file airbourne_board.h.

◆ int_i2c_

I2C rosflight_firmware::AirbourneBoard::int_i2c_

private

Definition at line 74 of file airbourne_board.h.

◆ inv_pin_

GPIO rosflight_firmware::AirbourneBoard::inv_pin_

private

Definition at line 85 of file airbourne_board.h.

◆ led1_

LED rosflight_firmware::AirbourneBoard::led1_

private

Definition at line 88 of file airbourne_board.h.

◆ led2_

LED rosflight_firmware::AirbourneBoard::led2_

private

Definition at line 87 of file airbourne_board.h.

◆ mag_

HMC5883L rosflight_firmware::AirbourneBoard::mag_

private

Definition at line 79 of file airbourne_board.h.

◆ new_imu_data_

bool rosflight_firmware::AirbourneBoard::new_imu_data_

private

Definition at line 118 of file airbourne_board.h.

◆ rc_

RC_BASE* rosflight_firmware::AirbourneBoard::rc_ = nullptr

private

Definition at line 101 of file airbourne_board.h.

◆ rc_ppm_

RC_PPM rosflight_firmware::AirbourneBoard::rc_ppm_

private

Definition at line 82 of file airbourne_board.h.

◆ rc_sbus_

RC_SBUS rosflight_firmware::AirbourneBoard::rc_sbus_

private

Definition at line 84 of file airbourne_board.h.

◆ secondary_serial_device_

SerialDevice rosflight_firmware::AirbourneBoard::secondary_serial_device_ = SERIAL_DEVICE_VCP

private

Definition at line 99 of file airbourne_board.h.

◆ sonar_

I2CSonar rosflight_firmware::AirbourneBoard::sonar_

private

Definition at line 83 of file airbourne_board.h.

◆ sonar_type

uint8_t rosflight_firmware::AirbourneBoard::sonar_type = SONAR_NONE

private

Definition at line 116 of file airbourne_board.h.

◆ spi1_

SPI rosflight_firmware::AirbourneBoard::spi1_

private

Definition at line 76 of file airbourne_board.h.

◆ spi3_

SPI rosflight_firmware::AirbourneBoard::spi3_

private

Definition at line 77 of file airbourne_board.h.

◆ uart1_

UART rosflight_firmware::AirbourneBoard::uart1_

private

Definition at line 71 of file airbourne_board.h.

◆ uart3_

UART rosflight_firmware::AirbourneBoard::uart3_

private

Definition at line 72 of file airbourne_board.h.

◆ vcp_

VCP rosflight_firmware::AirbourneBoard::vcp_

private

Definition at line 70 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

◆ anonymous enum

◆ SerialDevice

Constructor & Destructor Documentation

◆ AirbourneBoard()

Member Function Documentation

◆ backup_memory_clear()

◆ backup_memory_init()

◆ backup_memory_read()

◆ backup_memory_write()

◆ baro_present()

◆ baro_read()

◆ baro_update()

◆ battery_current_present()

◆ battery_current_read()

◆ battery_current_set_multiplier()

◆ battery_voltage_present()

◆ battery_voltage_read()

◆ battery_voltage_set_multiplier()

◆ board_reset()

◆ clock_delay()

◆ clock_micros()

◆ clock_millis()

◆ diff_pressure_present()

◆ diff_pressure_read()

◆ diff_pressure_update()

◆ gnss_full_read()

◆ gnss_has_new_data()

◆ gnss_present()

◆ gnss_read()

◆ gnss_update()

◆ imu_not_responding_error()

◆ imu_read()

◆ init_board()

◆ led0_off()

◆ led0_on()

◆ led0_toggle()

◆ led1_off()

◆ led1_on()

◆ led1_toggle()

◆ mag_present()

◆ mag_read()

◆ mag_update()

◆ memory_init()

◆ memory_read()

◆ memory_write()

◆ new_imu_data()

◆ num_sensor_errors()

◆ pwm_disable()

◆ pwm_init()

◆ pwm_write()

◆ rc_init()

◆ rc_lost()

◆ rc_read()

◆ sensors_init()

◆ serial_bytes_available()

◆ serial_flush()

◆ serial_init()

◆ serial_read()

◆ serial_write()

◆ sonar_present()

◆ sonar_read()

◆ sonar_update()

Member Data Documentation

◆ _accel_scale

◆ _board_revision

◆ _gyro_scale

◆ airspeed_

◆ baro_

◆ battery_adc_

◆ battery_monitor_

◆ current_serial_

◆ esc_out_

◆ ext_i2c_

◆ flash_