Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_ESC_Telem: add `telemdata.valid` method to simplify code

This commit is contained in:
Iampete1 2024-08-07 01:37:49 +01:00 committed by Andrew Tridgell
parent d5a125a2a9
commit f9f8c2aa29
3 changed files with 26 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
View File

@ -240,8 +240,7 @@ bool AP_ESC_Telem::get_temperature(uint8_t esc_index, int16_t& temp) const
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL)) {
|| !(telemdata.types & (AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL))) {
return false; return false;
} }
temp = telemdata.temperature_cdeg; temp = telemdata.temperature_cdeg;
@ -253,8 +252,7 @@ bool AP_ESC_Telem::get_motor_temperature(uint8_t esc_index, int16_t& temp) const
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL)) {
|| !(telemdata.types & (AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL))) {
return false; return false;
} }
temp = telemdata.motor_temp_cdeg; temp = telemdata.motor_temp_cdeg;
@ -282,8 +280,7 @@ bool AP_ESC_Telem::get_current(uint8_t esc_index, float& amps) const
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::CURRENT)) {
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::CURRENT)) {
return false; return false;
} }
amps = telemdata.current; amps = telemdata.current;
@ -295,8 +292,7 @@ bool AP_ESC_Telem::get_voltage(uint8_t esc_index, float& volts) const
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)) {
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)) {
return false; return false;
} }
volts = telemdata.voltage; volts = telemdata.voltage;
@ -308,8 +304,7 @@ bool AP_ESC_Telem::get_consumption_mah(uint8_t esc_index, float& consumption_mah
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION)) {
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION)) {
return false; return false;
} }
consumption_mah = telemdata.consumption_mah; consumption_mah = telemdata.consumption_mah;
@ -321,8 +316,7 @@ bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_index, uint32_t& usage_s) const
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::USAGE)) {
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::USAGE)) {
return false; return false;
} }
usage_s = telemdata.usage_s; usage_s = telemdata.usage_s;
@ -335,8 +329,7 @@ bool AP_ESC_Telem::get_input_duty(uint8_t esc_index, uint8_t& input_duty) const
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY)) {
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY)) {
return false; return false;
} }
input_duty = telemdata.input_duty; input_duty = telemdata.input_duty;
@ -348,8 +341,7 @@ bool AP_ESC_Telem::get_output_duty(uint8_t esc_index, uint8_t& output_duty) cons
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::OUTPUT_DUTY)) {
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::OUTPUT_DUTY)) {
return false; return false;
} }
output_duty = telemdata.output_duty; output_duty = telemdata.output_duty;
@ -361,8 +353,7 @@ bool AP_ESC_Telem::get_flags(uint8_t esc_index, uint32_t& flags) const
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::FLAGS)) {
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::FLAGS)) {
return false; return false;
} }
flags = telemdata.flags; flags = telemdata.flags;
@ -374,8 +365,7 @@ bool AP_ESC_Telem::get_power_percentage(uint8_t esc_index, uint8_t& power_percen
{ {
const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index]; const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS if (esc_index >= ESC_TELEM_MAX_ESCS
|| telemdata.stale() || !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE)) {
|| !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE)) {
return false; return false;
} }
power_percentage = telemdata.power_percentage; power_percentage = telemdata.power_percentage;

15
libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp
View File

@ -50,10 +50,19 @@ void AP_ESC_Telem_Backend::update_telem_data(const uint8_t esc_index, const Tele
*/ */
bool AP_ESC_Telem_Backend::TelemetryData::stale(uint32_t now_ms) const volatile bool AP_ESC_Telem_Backend::TelemetryData::stale(uint32_t now_ms) const volatile
{ {
if (now_ms == 0) {
now_ms = AP_HAL::millis();
}
return last_update_ms == 0 || now_ms - last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS; return last_update_ms == 0 || now_ms - last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS;
} }
/*
return true if the requested types of data are available and not stale
*/
bool AP_ESC_Telem_Backend::TelemetryData::valid(const uint16_t type_mask) const volatile
{
if ((types & type_mask) == 0) {
// Requested type not available
return false;
}
return !stale(AP_HAL::millis());
}
#endif #endif

5
libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
View File

@ -31,7 +31,10 @@ public:
#endif // AP_EXTENDED_ESC_TELEM_ENABLED #endif // AP_EXTENDED_ESC_TELEM_ENABLED
// return true if the data is stale // return true if the data is stale
bool stale(uint32_t now_ms=0) const volatile; bool stale(uint32_t now_ms) const volatile;
// return true if the requested type of data is available and not stale
bool valid(const uint16_t type_mask) const volatile;
}; };
struct RpmData { struct RpmData {