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AP_ESC_Telem: simplify AP_TemperatureSensor integration

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This commit is contained in:
Tom Pittenger 2023-01-19 09:09:29 -08:00 committed by Peter Barker
parent 47c7acf1b3
commit 9019fa2f8d
2 changed files with 17 additions and 27 deletions
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38
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
View File

@ -21,6 +21,7 @@
#if HAL_WITH_ESC_TELEM
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_TemperatureSensor/AP_TemperatureSensor_config.h>
//#define ESC_TELEM_DEBUG
@ -209,7 +210,7 @@ bool AP_ESC_Telem::get_temperature(uint8_t esc_index, int16_t& temp) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS
|| AP_HAL::millis() - _telem_data[esc_index].last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS
|| !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE)) {
|| !(_telem_data[esc_index].types & (AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL))) {
return false;
}
temp = _telem_data[esc_index].temperature_cdeg;
@ -221,7 +222,7 @@ bool AP_ESC_Telem::get_motor_temperature(uint8_t esc_index, int16_t& temp) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS
|| AP_HAL::millis() - _telem_data[esc_index].last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS
|| !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE)) {
|| !(_telem_data[esc_index].types & (AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL))) {
return false;
}
temp = _telem_data[esc_index].motor_temp_cdeg;
@ -420,28 +421,23 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
_have_data = true;
#if AP_TEMPERATURE_SENSOR_ENABLED
// if it's ever been set externally ignore normal "internal" updates
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL) {
_temperature_is_external[esc_index] = true;
_telem_data[esc_index].temperature_cdeg = new_data.temperature_cdeg;
} else if ((data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE) && !_temperature_is_external[esc_index]) {
_telem_data[esc_index].temperature_cdeg = new_data.temperature_cdeg;
}
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL) {
_motor_temp_is_external[esc_index] = true;
_telem_data[esc_index].motor_temp_cdeg = new_data.motor_temp_cdeg;
} else if ((data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE) && !_motor_temp_is_external[esc_index]) {
_telem_data[esc_index].motor_temp_cdeg = new_data.motor_temp_cdeg;
}
// always allow external data. Block "internal" if external has ever its ever been set externally then ignore normal "internal" updates
const bool has_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL) ||
((data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE) && !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL));
const bool has_motor_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL) ||
((data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE) && !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL));
#else
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE) {
_telem_data[esc_index].temperature_cdeg = new_data.temperature_cdeg;
}
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE) {
_telem_data[esc_index].motor_temp_cdeg = new_data.motor_temp_cdeg;
}
const bool has_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
const bool has_motor_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE);
#endif
if (has_temperature) {
_telem_data[esc_index].temperature_cdeg = new_data.temperature_cdeg;
}
if (has_motor_temperature) {
_telem_data[esc_index].motor_temp_cdeg = new_data.motor_temp_cdeg;
}
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::VOLTAGE) {
_telem_data[esc_index].voltage = new_data.voltage;
}

6
libraries/AP_ESC_Telem/AP_ESC_Telem.h
View File

@ -2,7 +2,6 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_TemperatureSensor/AP_TemperatureSensor_config.h>
#include <SRV_Channel/SRV_Channel_config.h>
#include "AP_ESC_Telem_Backend.h"
@ -115,11 +114,6 @@ private:
// telemetry data
volatile AP_ESC_Telem_Backend::TelemetryData _telem_data[ESC_TELEM_MAX_ESCS];
#if AP_TEMPERATURE_SENSOR_ENABLED
bool _temperature_is_external[ESC_TELEM_MAX_ESCS];
bool _motor_temp_is_external[ESC_TELEM_MAX_ESCS];
#endif
uint32_t _last_telem_log_ms[ESC_TELEM_MAX_ESCS];
uint32_t _last_rpm_log_us[ESC_TELEM_MAX_ESCS];
uint8_t next_idx;