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AP_ToshibaCAN: consume and log motor temperature

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also fix esc temperature consumption
also minor change to temperature logging multipler (was float, now
unsigned)
This commit is contained in:
Randy Mackay 2019-11-20 10:38:36 +09:00 committed by Andrew Tridgell
parent cddc9b622f
commit 9fe624ab77
2 changed files with 9 additions and 5 deletions
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11
libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp
View File

@ -340,13 +340,15 @@ void AP_ToshibaCAN::loop()
const uint16_t u_temp = ((uint16_t)recv_frame.data[0] << 2) | ((uint16_t)recv_frame.data[1] >> 6);
const uint16_t v_temp = (((uint16_t)recv_frame.data[1] & (uint16_t)0x3F) << 4) | (((uint16_t)recv_frame.data[2] & (uint16_t)0xF0) >> 4);
const uint16_t w_temp = (((uint16_t)recv_frame.data[2] & (uint16_t)0x0F) << 6) | (((uint16_t)recv_frame.data[3] & (uint16_t)0xFC) >> 2);
const uint16_t motor_temp = (((uint16_t)recv_frame.data[3] & (uint16_t)0x03) << 8) | ((uint16_t)recv_frame.data[4]);
const uint16_t temp_max = MAX(u_temp, MAX(v_temp, w_temp));
// store repose in telemetry array
uint8_t esc_id = recv_frame.id - MOTOR_DATA2;
if (esc_id < TOSHIBACAN_MAX_NUM_ESCS) {
WITH_SEMAPHORE(_telem_sem);
_telemetry[esc_id].temperature = temp_max < 20 ? 0 : temp_max / 5 - 20;
_telemetry[esc_id].esc_temp = temp_max < 100 ? 0 : temp_max / 5 - 20;
_telemetry[esc_id].motor_temp = motor_temp < 100 ? 0 : motor_temp / 5 - 20;
_esc_present_bitmask_recent |= ((uint32_t)1 << esc_id);
}
}
@ -462,8 +464,9 @@ void AP_ToshibaCAN::update()
_telemetry[i].rpm * 100U,
_telemetry[i].voltage_cv,
_telemetry[i].current_ca,
_telemetry[i].temperature * 100.0f,
constrain_float(_telemetry[i].current_tot_mah, 0, UINT16_MAX));
_telemetry[i].esc_temp * 100U,
constrain_float(_telemetry[i].current_tot_mah, 0, UINT16_MAX),
_telemetry[i].motor_temp * 100U);
_telemetry[i].new_data = false;
}
}
@ -510,7 +513,7 @@ void AP_ToshibaCAN::send_esc_telemetry_mavlink(uint8_t mav_chan)
// fill in output arrays
for (uint8_t j = 0; j < 4; j++) {
uint8_t esc_id = i * 4 + j;
temperature[j] = _telemetry[esc_id].temperature;
temperature[j] = _telemetry[esc_id].esc_temp;
voltage[j] = _telemetry[esc_id].voltage_cv;
current[j] = _telemetry[esc_id].current_ca;
current_tot[j] = constrain_float(_telemetry[esc_id].current_tot_mah, 0, UINT16_MAX);

3
libraries/AP_ToshibaCAN/AP_ToshibaCAN.h
View File

@ -78,7 +78,8 @@ private:
uint16_t rpm; // rpm
uint16_t voltage_cv; // voltage in centi-volts
uint16_t current_ca; // current in centi-amps
uint16_t temperature; // temperature in degrees
uint16_t esc_temp; // esc temperature in degrees
uint16_t motor_temp; // motor temperature in degrees
uint16_t count; // total number of packets sent
uint32_t last_update_ms; // system time telemetry was last update (used to calc total current)
float current_tot_mah; // total current in mAh