AP_ESC_Telem: wrapper for ESCs with feedback

libraries/AP_ESC_Telem/AP_ESC_Telem.cpp

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+/*
+   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();
+}
+
+};

libraries/AP_ESC_Telem/AP_ESC_Telem.h

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+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+
+class AP_ESC_Telem {
+public:
+
+    AP_ESC_Telem();
+
+    /* Do not allow copies */
+    AP_ESC_Telem(const AP_ESC_Telem &other) = delete;
+    AP_ESC_Telem &operator=(const AP_ESC_Telem&) = delete;
+
+    static AP_ESC_Telem *get_singleton();
+
+    // get an individual ESC's usage time in seconds if available, returns true on success
+    bool get_usage_seconds(uint8_t esc_id, uint32_t& usage_sec) const;
+
+private:
+
+    static AP_ESC_Telem *_singleton;
+
+};
+
+namespace AP {
+    AP_ESC_Telem &esc_telem();
+};