mirror of https://github.com/ArduPilot/ardupilot
101 lines
3.0 KiB
C++
101 lines
3.0 KiB
C++
/*
|
|
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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "AP_ESC_Telem_SITL.h"
|
|
#include "AP_ESC_Telem.h"
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <SITL/SITL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
|
|
#include <AP_Math/AP_Math.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
AP_ESC_Telem_SITL::AP_ESC_Telem_SITL()
|
|
{
|
|
}
|
|
|
|
void AP_ESC_Telem_SITL::update()
|
|
{
|
|
SITL::SIM* sitl = AP::sitl();
|
|
|
|
if (!sitl) {
|
|
return;
|
|
}
|
|
|
|
#if HAL_WITH_ESC_TELEM
|
|
|
|
if (AP_HAL::millis64() < 6000) {
|
|
// this prevents us sending blank data at startup, which triggers
|
|
// ESC telem messages for all channels
|
|
return;
|
|
}
|
|
uint32_t mask = sitl->state.motor_mask;
|
|
|
|
/*
|
|
mask out motors we should not be providing telemetry for. On
|
|
AP_Periph SIM_CAN_SRV_MSK are the outputs we will provide
|
|
telemetry for, on the main firmware it is the ones we don't
|
|
provide telemetry for
|
|
*/
|
|
#if defined(HAL_BUILD_AP_PERIPH)
|
|
mask &= uint32_t(sitl->can_servo_mask);
|
|
#else
|
|
mask &= ~uint32_t(sitl->can_servo_mask);
|
|
#endif
|
|
uint8_t bit;
|
|
|
|
while ((bit = __builtin_ffs(mask)) != 0) {
|
|
uint8_t motor = bit-1;
|
|
mask &= ~(1U<<motor);
|
|
|
|
const float min_rpm = hal.util->get_soft_armed()? sitl->esc_rpm_armed : 0;
|
|
update_rpm(motor, MAX(min_rpm, sitl->state.rpm[motor]));
|
|
|
|
// some fake values so that is_telemetry_active() returns true
|
|
TelemetryData t {
|
|
.temperature_cdeg = 3200,
|
|
.voltage = 16.8f,
|
|
.current = 0.8f,
|
|
.consumption_mah = 1.0f,
|
|
.motor_temp_cdeg = 3500,
|
|
#if AP_EXTENDED_ESC_TELEM_ENABLED
|
|
.input_duty = 1,
|
|
.output_duty = 2,
|
|
.flags = 3,
|
|
.power_percentage = 4,
|
|
#endif
|
|
};
|
|
|
|
update_telem_data(motor, t,
|
|
AP_ESC_Telem_Backend::TelemetryType::CURRENT
|
|
| AP_ESC_Telem_Backend::TelemetryType::VOLTAGE
|
|
| AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION
|
|
| AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE
|
|
| AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE
|
|
#if AP_EXTENDED_ESC_TELEM_ENABLED
|
|
| AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE
|
|
| AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY
|
|
| AP_ESC_Telem_Backend::TelemetryType::OUTPUT_DUTY
|
|
| AP_ESC_Telem_Backend::TelemetryType::FLAGS
|
|
#endif
|
|
);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
#endif
|