AP_TemperatureSensor: refactor for upcoming upgrades

libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp

@@ -188,6 +188,16 @@ bool AP_TemperatureSensor::healthy(const uint8_t instance) const
     return instance < _num_instances && drivers[instance] != nullptr && drivers[instance]->healthy();
 }
 
+AP_TemperatureSensor::Source AP_TemperatureSensor::get_source(const uint8_t instance) const
+{
+    return healthy(instance) ? (AP_TemperatureSensor::Source)_params[instance].source.get() : AP_TemperatureSensor::Source::None;
+}
+
+int32_t AP_TemperatureSensor::get_source_id(const uint8_t instance) const
+{
+    return healthy(instance) ? _params[instance].source_id.get() : 0;
+}
+
 namespace AP {
 AP_TemperatureSensor &temperature_sensor() {
     return *AP_TemperatureSensor::get_singleton();

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp

@@ -19,6 +19,7 @@
 #include "AP_TemperatureSensor_Backend.h"
 
 #include <AP_Logger/AP_Logger.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
 
 /*
     base class constructor.
@@ -56,6 +57,43 @@ void AP_TemperatureSensor_Backend::set_temperature(const float temperature)
         _state.temperature = temperature;
         _state.last_time_ms = AP_HAL::millis();
     }
+
+    update_external_libraries(temperature);
+}
+
+void AP_TemperatureSensor_Backend::update_external_libraries(const float temperature)
+{
+#if HAL_WITH_ESC_TELEM
+    AP_ESC_Telem_Backend::TelemetryData t;
+#endif
+
+    switch ((AP_TemperatureSensor::Source)_params.source.get()) {
+#if HAL_WITH_ESC_TELEM
+        case AP_TemperatureSensor::Source::ESC:
+            t.temperature_cdeg = temperature * 100;
+            update_telem_data(_params.source_id-1, t, AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL);
+            break;
+
+        case AP_TemperatureSensor::Source::Motor:
+            t.motor_temp_cdeg = temperature * 100;
+            update_telem_data(_params.source_id-1, t, AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL);
+            break;
+#endif
+
+#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
+        case AP_TemperatureSensor::Source::Battery_Index:
+            AP::battery().set_temperature(temperature, _params.source_id-1);
+            break;
+        case AP_TemperatureSensor::Source::Battery_ID_SerialNumber:
+            AP::battery().set_temperature_by_serial_number(temperature, _params.source_id);
+            break;
+#endif
+
+        case AP_TemperatureSensor::Source::None:
+        default:
+            break;
+    }
+
 }
 
 #endif // AP_TEMPERATURE_SENSOR_ENABLED

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.h

@@ -18,8 +18,12 @@
 
 #if AP_TEMPERATURE_SENSOR_ENABLED
 #include <AP_HAL/Semaphores.h>
+#include <AP_ESC_Telem/AP_ESC_Telem.h>
 
 class AP_TemperatureSensor_Backend
+#if HAL_WITH_ESC_TELEM
+ : public AP_ESC_Telem_Backend
+#endif
 {
 public:
     // constructor. This incorporates initialisation as well.
@@ -43,6 +47,7 @@ public:
 protected:
 
     void set_temperature(const float temperature);
+    void update_external_libraries(const float temperature);
 
     AP_TemperatureSensor                            &_front;    // reference to front-end
     AP_TemperatureSensor::TemperatureSensor_State   &_state;    // reference to this instance's state (held in the front-end)

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp

@@ -63,6 +63,18 @@ const AP_Param::GroupInfo AP_TemperatureSensor_Params::var_info[] = {
     // @RebootRequired: True
     AP_GROUPINFO("ADDR", 3, AP_TemperatureSensor_Params, bus_address, AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT),
 
+    // @Param: SRC
+    // @DisplayName: Sensor Source
+    // @Description: Sensor Source is used to match up the source of the temperature data and populate the appropriate system-component. If 0 (None) then the data is only available via log.
+    // @Values: 0: None, 1:ESC, 2:Motor, 3:Battery Index, 4:Battery ID/SerialNumber
+    // @User: Standard
+    AP_GROUPINFO("SRC", 4, AP_TemperatureSensor_Params, source, AP_TEMPERATURE_SENSOR_SOURCE_DEFAULT),
+
+    // @Param: SRC_ID
+    // @DisplayName: Sensor Source Identification
+    // @Description: Sensor Source Identification is used to populate a specific instance of a system component. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_INDEX = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_INDEX=2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId?SerialNum),TEMP_SRC_INDEX=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
+    AP_GROUPINFO("SRC_ID", 5, AP_TemperatureSensor_Params, source_id, AP_TEMPERATURE_SENSOR_SOURCE_ID_DEFAULT),
+
     AP_GROUPEND
 };
 

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h

@@ -29,4 +29,6 @@ public:
     AP_Int8 bus;                    // I2C bus number
     AP_Int8 bus_address;            // I2C address
     
+    AP_Int8 source;                 // AP_TemperatureSensor::Source, library mapping
+    AP_Int32 source_id;             // library instance mapping
 };