batt_task.h File Reference

BattTask: owns the battery ADC and the battery monitor (battery.c). More...

#include <stdint.h>
#include "battery.h"

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Data Structures
struct	batt_task_cfg_t
struct	batt_flight_t
	last flight summary (AppTask persists it for the BATTERY calibration) More...

Macros
#define	BATT_TASK_PERIOD_MS   20u

Functions
void	batt_task_init (const batt_task_cfg_t *cfg)
void	batt_task_step (uint32_t now_ms)
int	batt_task_post_scales (float scale_v, float scale_i)
	AppTask -> BattTask: new calibration scales; 0 = queued.
void	batt_task_last_flight (batt_flight_t *out)
	last flight (any task, seqlock)
void	batt_task_start (const batt_task_cfg_t *cfg)

Detailed Description

BattTask: owns the battery ADC and the battery monitor (battery.c).

A task of its own, so the battery logic stays out of the flight loop:

• every 20 ms it reads the two ADC pins (board binding), runs batt_step() and publishes the battery state (batt_read(), seqlock);
• when the warning level or the presence changes it signals the flight core with fc_batt_signal() (SPSC queue drained in fc_service());
• every step it refreshes the heartbeat (fc_batt_heartbeat()): if the task stops, the flight core treats the battery as unknown;
• BATTERY calibration scales arrive from the AppTask through an SPSC queue (batt_task_post_scales()).

The flight core keeps the decisions (land, RTH, events), because it owns the flight state. batt_task_step() is plain C and runs on the host; the RTOS loop is at the end of batt_task.c.

Definition in file batt_task.h.

Macro Definition Documentation

BATT_TASK_PERIOD_MS

#define BATT_TASK_PERIOD_MS   20u

Definition at line 26 of file batt_task.h.

Function Documentation

batt_task_init()

void batt_task_init

(

const batt_task_cfg_t *

cfg

)

Definition at line 27 of file batt_task.c.

References batt_task_cfg_t::batt, batt_init(), s_cfg, s_fl, s_fl_seq, s_have_last, s_sig_level, s_sig_present, s_used_at_arm, s_was_armed, and spsc_reset().

Referenced by batt_task_start().

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batt_task_step()

void batt_task_step

(

uint32_t

now_ms

)

Definition at line 58 of file batt_task.c.

References batt_task_cfg_t::adc_read, fc_state_t::armed, b, batt_get_cfg(), batt_set_scales(), batt_state(), batt_step(), BATT_TASK_PERIOD_MS, batt_flight_t::count, fc_batt_heartbeat(), fc_batt_signal(), fc_snapshot(), L, logf_power(), P_BATT_CAPACITY, P_BATT_CELLS, P_BATT_CRIT, P_BATT_EMERG, P_BATT_WARN, PARAM, fc_batt_sig_t::present, s_cfg, s_fl, s_fl_seq, s_have_last, s_last, s_log_div, s_sig_level, s_sig_present, s_used_at_arm, s_was_armed, scales_t::scale_i, batt_flight_t::scale_i, batt_cfg_t::scale_i, scales_t::scale_v, SPSC_BARRIER, spsc_pop(), and batt_flight_t::used_mah.

Referenced by BattTask().

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batt_task_post_scales()

int batt_task_post_scales	(	float	scale_v,
		float	scale_i
	)

AppTask -> BattTask: new calibration scales; 0 = queued.

Definition at line 40 of file batt_task.c.

References s, and spsc_push().

Referenced by cal_apply().

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batt_task_last_flight()

void batt_task_last_flight

(

batt_flight_t *

out

)

last flight (any task, seqlock)

Definition at line 46 of file batt_task.c.

References s_fl, s_fl_seq, and SPSC_BARRIER.

Referenced by battery_flight().

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batt_task_start()

void batt_task_start

(

const batt_task_cfg_t *

cfg

)

Definition at line 124 of file batt_task.c.

References batt_task_init(), and BattTask().

Referenced by app_start().

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