mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
|
/*
|
||
|
|
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 <http://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "AP_ESC_Telem.h"
|
||
|
|
#include <AP_HAL/AP_HAL.h>
|
||
|
|
|
||
|
|
#if HAL_WITH_UAVCAN
|
||
|
|
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
|
||
|
|
#include <AP_Common/AP_Common.h>
|
||
|
|
#include <AP_Vehicle/AP_Vehicle.h>
|
||
|
|
#include <AP_UAVCAN/AP_UAVCAN.h>
|
||
|
|
#include <AP_KDECAN/AP_KDECAN.h>
|
||
|
|
#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
|
||
|
|
#endif
|
||
|
|
|
||
|
|
extern const AP_HAL::HAL& hal;
|
||
|
|
|
||
|
|
AP_ESC_Telem::AP_ESC_Telem()
|
||
|
|
{
|
||
|
|
if (_singleton) {
|
||
|
|
AP_HAL::panic("Too many AP_ESC_Telem instances");
|
||
|
|
}
|
||
|
|
_singleton = this;
|
||
|
|
}
|
||
|
|
|
||
|
|
// get an individual ESC's usage time in seconds if available, returns true on success
|
||
|
|
bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_id, uint32_t& usage_sec) const
|
||
|
|
{
|
||
|
|
#if HAL_WITH_UAVCAN
|
||
|
|
const uint8_t num_drivers = AP::can().get_num_drivers();
|
||
|
|
for (uint8_t i = 0; i < num_drivers; i++) {
|
||
|
|
if (AP::can().get_protocol_type(i) == AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN) {
|
||
|
|
AP_ToshibaCAN *tcan = AP_ToshibaCAN::get_tcan(i);
|
||
|
|
if (tcan != nullptr) {
|
||
|
|
usage_sec = tcan->get_usage_seconds(esc_id);
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
AP_ESC_Telem *AP_ESC_Telem::_singleton = nullptr;
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Get the AP_InertialSensor singleton
|
||
|
|
*/
|
||
|
|
AP_ESC_Telem *AP_ESC_Telem::get_singleton()
|
||
|
|
{
|
||
|
|
return AP_ESC_Telem::_singleton;
|
||
|
|
}
|
||
|
|
|
||
|
|
namespace AP {
|
||
|
|
|
||
|
|
AP_ESC_Telem &esc_telem()
|
||
|
|
{
|
||
|
|
return *AP_ESC_Telem::get_singleton();
|
||
|
|
}
|
||
|
|
|
||
|
|
};
|