battery: pass voltage and current by setter

boards/bitcraze/crazyflie/syslink/syslink_main.cpp

@@ -405,7 +405,8 @@ Syslink::handle_message(syslink_message_t *msg)
 		//memcpy(&iset, &msg->data[5], sizeof(float));
 
 		_battery.setConnected(true);
-		_battery.updateBatteryStatus(t, vbat, -1);
+		_battery.updateVoltage(vbat);
+		_battery.updateBatteryStatus(t);
 
 		// Update battery charge state
 		if (charging) {

src/drivers/power_monitor/ina226/ina226.cpp

@@ -84,11 +84,9 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
 
 	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
 	_battery.setConnected(false);
-	_battery.updateBatteryStatus(
+	_battery.updateVoltage(0.f);
-		hrt_absolute_time(),
+	_battery.updateCurrent(0.f);
-		0.0,
+	_battery.updateBatteryStatus(hrt_absolute_time());
-		0.0
-	);
 }
 
 INA226::~INA226()
@@ -229,11 +227,9 @@ INA226::collect()
 	}
 
 	_battery.setConnected(success);
-	_battery.updateBatteryStatus(
+	_battery.updateVoltage(static_cast<float>(_bus_voltage * INA226_VSCALE));
-		hrt_absolute_time(),
+	_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
-		(float) _bus_voltage * INA226_VSCALE,
+	_battery.updateBatteryStatus(hrt_absolute_time());
-		(float) _current * _current_lsb
-	);
 
 	perf_end(_sample_perf);
 
@@ -297,11 +293,9 @@ INA226::RunImpl()
 
 	} else {
 		_battery.setConnected(false);
-		_battery.updateBatteryStatus(
+		_battery.updateVoltage(0.f);
-			hrt_absolute_time(),
+		_battery.updateCurrent(0.f);
-			0.0f,
+		_battery.updateBatteryStatus(hrt_absolute_time());
-			0.0f
-		);
 
 		if (init() != PX4_OK) {
 			ScheduleDelayed(INA226_INIT_RETRY_INTERVAL_US);

src/drivers/power_monitor/ina228/ina228.cpp

@@ -86,11 +86,9 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
 
 	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
 	_battery.setConnected(false);
-	_battery.updateBatteryStatus(
+	_battery.updateVoltage(0.f);
-		hrt_absolute_time(),
+	_battery.updateCurrent(0.f);
-		0.0,
+	_battery.updateBatteryStatus(hrt_absolute_time());
-		0.0
-	);
 }
 
 INA228::~INA228()
@@ -310,11 +308,9 @@ INA228::collect()
 	}
 
 	_battery.setConnected(success);
-	_battery.updateBatteryStatus(
+	_battery.updateVoltage(static_cast<float>(_bus_voltage * INA228_VSCALE));
-		hrt_absolute_time(),
+	_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
-		(float) _bus_voltage * INA228_VSCALE,
+	_battery.updateBatteryStatus(hrt_absolute_time());
-		(float) _current * _current_lsb
-	);
 
 	perf_end(_sample_perf);
 
@@ -378,11 +374,9 @@ INA228::RunImpl()
 
 	} else {
 		_battery.setConnected(false);
-		_battery.updateBatteryStatus(
+		_battery.updateVoltage(0.f);
-			hrt_absolute_time(),
+		_battery.updateCurrent(0.f);
-			0.0f,
+		_battery.updateBatteryStatus(hrt_absolute_time());
-			0.0f
-		);
 
 		if (init() != PX4_OK) {
 			ScheduleDelayed(INA228_INIT_RETRY_INTERVAL_US);

src/drivers/power_monitor/ina238/ina238.cpp

@@ -69,11 +69,9 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
 
 	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
 	_battery.setConnected(false);
-	_battery.updateBatteryStatus(
+	_battery.updateVoltage(0.f);
-		hrt_absolute_time(),
+	_battery.updateCurrent(0.f);
-		0.0,
+	_battery.updateBatteryStatus(hrt_absolute_time());
-		0.0
-	);
 }
 
 INA238::~INA238()
@@ -197,11 +195,9 @@ int INA238::collect()
 	}
 
 	_battery.setConnected(success);
-	_battery.updateBatteryStatus(
+	_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
-		hrt_absolute_time(),
+	_battery.updateCurrent(static_cast<float>(current * _current_lsb));
-		(float) bus_voltage * INA238_VSCALE,
+	_battery.updateBatteryStatus(hrt_absolute_time());
-		(float) current * _current_lsb
-	);
 
 	perf_end(_sample_perf);
 
@@ -256,11 +252,9 @@ void INA238::RunImpl()
 
 	} else {
 		_battery.setConnected(false);
-		_battery.updateBatteryStatus(
+		_battery.updateVoltage(0.f);
-			hrt_absolute_time(),
+		_battery.updateCurrent(0.f);
-			0.0f,
+		_battery.updateBatteryStatus(hrt_absolute_time());
-			0.0f
-		);
 
 		if (init() != PX4_OK) {
 			ScheduleDelayed(INA238_INIT_RETRY_INTERVAL_US);

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -72,11 +72,9 @@ VOXLPM::init()
 
 	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
 		_battery.setConnected(false);
-		_battery.updateBatteryStatus(
+		_battery.updateVoltage(0.f);
-			hrt_absolute_time(),
+		_battery.updateCurrent(0.f);
-			0.0,
+		_battery.updateBatteryStatus(hrt_absolute_time());
-			0.0
-		);
 	}
 
 	/* do I2C init, it will probe the bus for two possible configurations, LTC2946 or INA231 */
@@ -345,9 +343,9 @@ VOXLPM::measure()
 		case VOXLPM_CH_TYPE_VBATT: {
 
 				_battery.setConnected(true);
-				_battery.updateBatteryStatus(tnow,
+				_battery.updateVoltage(_voltage);
-							     _voltage,
+				_battery.updateCurrent(_amperage);
-							     _amperage);
+				_battery.updateBatteryStatus(tnow);
 			}
 
 		// fallthrough
@@ -371,9 +369,9 @@ VOXLPM::measure()
 		switch (_ch_type) {
 		case VOXLPM_CH_TYPE_VBATT: {
 				_battery.setConnected(true);
-				_battery.updateBatteryStatus(tnow,
+				_battery.updateVoltage(0.f);
-							     0.0,
+				_battery.updateCurrent(0.f);
-							     0.0);
+				_battery.updateBatteryStatus(tnow);
 			}
 			break;
 

src/lib/battery/battery.cpp

@@ -97,16 +97,26 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
 	updateParams();
 }
 
-void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a)
+void Battery::updateVoltage(const float voltage_v)
+{
+	_voltage_v = voltage_v;
+	_voltage_filter_v.update(voltage_v);
+}
+
+void Battery::updateCurrent(const float current_a)
+{
+	_current_a = current_a;
+	_current_filter_a.update(current_a);
+}
+
+void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 {
 	if (!_battery_initialized) {
-		_voltage_filter_v.reset(voltage_v);
+		_voltage_filter_v.reset(_voltage_v);
-		_current_filter_a.reset(current_a);
+		_current_filter_a.reset(_current_a);
 	}
 
-	_voltage_filter_v.update(voltage_v);
+	sumDischarged(timestamp, _current_a);
-	_current_filter_a.update(current_a);
-	sumDischarged(timestamp, current_a);
 	estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState());
 	computeScale();
 
@@ -122,15 +132,15 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
 	}
 
 	battery_status_s battery_status{};
-	battery_status.voltage_v = voltage_v;
+	battery_status.voltage_v = _voltage_v;
 	battery_status.voltage_filtered_v = _voltage_filter_v.getState();
-	battery_status.current_a = current_a;
+	battery_status.current_a = _current_a;
 	battery_status.current_filtered_a = _current_filter_a.getState();
 	battery_status.current_average_a = _current_average_filter_a.getState();
 	battery_status.discharged_mah = _discharged_mah;
 	battery_status.remaining = _state_of_charge;
 	battery_status.scale = _scale;
-	battery_status.time_remaining_s = computeRemainingTime(current_a);
+	battery_status.time_remaining_s = computeRemainingTime(_current_a);
 	battery_status.temperature = NAN;
 	battery_status.cell_count = _params.n_cells;
 	battery_status.connected = _connected;

src/lib/battery/battery.h

@@ -87,15 +87,15 @@ public:
 
 	void setPriority(const uint8_t priority) { _priority = priority; }
 	void setConnected(const bool connected) { _connected = connected; }
+	void updateVoltage(const float voltage_v);
+	void updateCurrent(const float current_a);
 
 	/**
 	 * Update current battery status message.
 	 *
-	 * @param voltage_raw: Battery voltage, in Volts
-	 * @param current_raw: Battery current, in Amps
 	 * @param timestamp: Time at which the ADC was read (use hrt_absolute_time())
 	 */
-	void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a);
+	void updateBatteryStatus(const hrt_abstime &timestamp);
 
 protected:
 	struct {
@@ -143,7 +143,9 @@ private:
 	const uint8_t _source{};
 	uint8_t _priority{0};
 	bool _battery_initialized{false};
+	float _voltage_v{0.f};
 	AlphaFilter<float> _voltage_filter_v;
+	float _current_a{-1};
 	AlphaFilter<float> _current_filter_a;
 	AlphaFilter<float> _current_average_filter_a;
 	AlphaFilter<float> _throttle_filter;

src/modules/battery_status/analog_battery.cpp

@@ -81,7 +81,9 @@ AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw,
 			 (BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
 
 	Battery::setConnected(connected);
-	Battery::updateBatteryStatus(timestamp, voltage_v, current_a);
+	Battery::updateVoltage(voltage_v);
+	Battery::updateCurrent(current_a);
+	Battery::updateBatteryStatus(timestamp);
 }
 
 bool AnalogBattery::is_valid()

src/modules/esc_battery/EscBattery.cpp

@@ -100,10 +100,9 @@ EscBattery::Run()
 		average_voltage_v /= esc_status.esc_count;
 
 		_battery.setConnected(true);
-		_battery.updateBatteryStatus(
+		_battery.updateVoltage(average_voltage_v);
-			esc_status.timestamp,
+		_battery.updateCurrent(total_current_a);
-			average_voltage_v,
+		_battery.updateBatteryStatus(esc_status.timestamp);
-			total_current_a);
 	}
 }
 

src/modules/simulator/battery_simulator/BatterySimulator.cpp

@@ -100,7 +100,9 @@ void BatterySimulator::Run()
 	vbatt *= _battery.cell_count();
 
 	_battery.setConnected(true);
-	_battery.updateBatteryStatus(now_us, vbatt, ibatt);
+	_battery.updateVoltage(vbatt);
+	_battery.updateCurrent(ibatt);
+	_battery.updateBatteryStatus(now_us);
 
 	perf_end(_loop_perf);
 }