mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_ESC_Telem.h"
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#include <AP_HAL/AP_HAL.h>
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#if HAL_WITH_UAVCAN
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#include <AP_KDECAN/AP_KDECAN.h>
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#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
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#endif
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extern const AP_HAL::HAL& hal;
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AP_ESC_Telem::AP_ESC_Telem()
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{
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if (_singleton) {
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AP_HAL::panic("Too many AP_ESC_Telem instances");
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}
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_singleton = this;
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}
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// get an individual ESC's usage time in seconds if available, returns true on success
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bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_id, uint32_t& usage_sec) const
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{
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#if HAL_WITH_UAVCAN
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const uint8_t num_drivers = AP::can().get_num_drivers();
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for (uint8_t i = 0; i < num_drivers; i++) {
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if (AP::can().get_protocol_type(i) == AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN) {
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AP_ToshibaCAN *tcan = AP_ToshibaCAN::get_tcan(i);
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if (tcan != nullptr) {
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usage_sec = tcan->get_usage_seconds(esc_id);
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return true;
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}
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return true;
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}
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}
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#endif
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return false;
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}
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AP_ESC_Telem *AP_ESC_Telem::_singleton = nullptr;
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/*
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* Get the AP_InertialSensor singleton
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*/
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AP_ESC_Telem *AP_ESC_Telem::get_singleton()
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{
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return AP_ESC_Telem::_singleton;
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}
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namespace AP {
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AP_ESC_Telem &esc_telem()
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{
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return *AP_ESC_Telem::get_singleton();
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}
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};
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