/* 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 . */ #include "AP_RPM.h" #if AP_RPM_ENABLED #include "RPM_Backend.h" #include "RPM_Pin.h" #include "RPM_SITL.h" #include "RPM_EFI.h" #include "RPM_Generator.h" #include "RPM_HarmonicNotch.h" #include "RPM_ESC_Telem.h" #include "RPM_DroneCAN.h" #include extern const AP_HAL::HAL& hal; // table of user settable parameters const AP_Param::GroupInfo AP_RPM::var_info[] = { // 0-13 used by old param indexes before being moved to AP_RPM_Params // @Group: 1_ // @Path: AP_RPM_Params.cpp AP_SUBGROUPINFO(_params[0], "1_", 14, AP_RPM, AP_RPM_Params), #if RPM_MAX_INSTANCES > 1 // @Group: 2_ // @Path: AP_RPM_Params.cpp AP_SUBGROUPINFO(_params[1], "2_", 15, AP_RPM, AP_RPM_Params), #endif #if RPM_MAX_INSTANCES > 2 // @Group: 3_ // @Path: AP_RPM_Params.cpp AP_SUBGROUPINFO(_params[2], "3_", 16, AP_RPM, AP_RPM_Params), #endif #if RPM_MAX_INSTANCES > 3 // @Group: 4_ // @Path: AP_RPM_Params.cpp AP_SUBGROUPINFO(_params[3], "4_", 17, AP_RPM, AP_RPM_Params), #endif AP_GROUPEND }; AP_RPM::AP_RPM(void) { AP_Param::setup_object_defaults(this, var_info); if (_singleton != nullptr) { AP_HAL::panic("AP_RPM must be singleton"); } _singleton = this; } /* initialise the AP_RPM class. */ void AP_RPM::init(void) { if (num_instances != 0) { // init called a 2nd time? return; } convert_params(); for (uint8_t i=0; isnprintf(param_name, sizeof(param_name), "RPM%X_%s", param_instance, AP_RPM_Params::var_info[destination_index].name); param_name[sizeof(param_name)-1] = '\0'; AP_Param::convert_old_parameter(&info, 1.0f, 0); } // force _params[0].type into storage to flag that conversion has been done _params[0].type.save(true); } /* update RPM state for all instances. This should be called by main loop */ void AP_RPM::update(void) { for (uint8_t i=0; iupdate(); #if AP_RPM_ESC_TELEM_OUTBOUND_ENABLED drivers[i]->update_esc_telem_outbound(); #endif } } #if HAL_LOGGING_ENABLED Log_RPM(); #endif } /* check if an instance is healthy */ bool AP_RPM::healthy(uint8_t instance) const { if (instance >= num_instances || _params[instance].type == RPM_TYPE_NONE) { return false; } // check that data quality is above minimum required if (state[instance].signal_quality < _params[instance].quality_min) { return false; } return true; } /* check if an instance is activated */ bool AP_RPM::enabled(uint8_t instance) const { if (instance >= num_instances) { return false; } // if no sensor type is selected, the sensor is not activated. if (_params[instance].type == RPM_TYPE_NONE) { return false; } return true; } /* get RPM value, return true on success */ bool AP_RPM::get_rpm(uint8_t instance, float &rpm_value) const { if (!healthy(instance)) { return false; } rpm_value = state[instance].rate_rpm; return true; } // check settings are valid bool AP_RPM::arming_checks(size_t buflen, char *buffer) const { for (uint8_t i=0; isnprintf(buffer, buflen, "RPM%u_PIN not set", unsigned(i + 1)); return false; } if (!hal.gpio->valid_pin(_params[i].pin)) { uint8_t servo_ch; if (hal.gpio->pin_to_servo_channel(_params[i].pin, servo_ch)) { hal.util->snprintf(buffer, buflen, "RPM%u_PIN=%d, set SERVO%u_FUNCTION=-1", unsigned(i + 1), int(_params[i].pin.get()), unsigned(servo_ch+1)); } else { hal.util->snprintf(buffer, buflen, "RPM%u_PIN=%d invalid", unsigned(i + 1), int(_params[i].pin.get())); } return false; } break; #endif } } return true; } #if HAL_LOGGING_ENABLED void AP_RPM::Log_RPM() const { // update logging for each instance for (uint8_t i=0; i