mirror of https://github.com/ArduPilot/ardupilot
552 lines
20 KiB
C++
552 lines
20 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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#include <GCS_MAVLink/GCS.h>
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#include <AP_Logger/AP_Logger.h>
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#if HAL_WITH_ESC_TELEM
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#include <AP_BoardConfig/AP_BoardConfig.h>
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//#define ESC_TELEM_DEBUG
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#define ESC_RPM_CHECK_TIMEOUT_US 100000UL // timeout for motor running validity
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extern const AP_HAL::HAL& hal;
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// table of user settable parameters
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const AP_Param::GroupInfo AP_ESC_Telem::var_info[] = {
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// @Param: _MAV_OFS
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// @DisplayName: ESC Telemetry mavlink offset
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// @Description: Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets
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// @Increment: 1
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// @Range: 0 31
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// @User: Standard
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AP_GROUPINFO("_MAV_OFS", 1, AP_ESC_Telem, mavlink_offset, 0),
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AP_GROUPEND
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};
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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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AP_Param::setup_object_defaults(this, var_info);
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}
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// return the average motor RPM
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float AP_ESC_Telem::get_average_motor_rpm(uint32_t servo_channel_mask) const
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{
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float rpm_avg = 0.0f;
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uint8_t valid_escs = 0;
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// average the rpm of each motor
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for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
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if (BIT_IS_SET(servo_channel_mask,i)) {
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float rpm;
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if (get_rpm(i, rpm)) {
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rpm_avg += rpm;
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valid_escs++;
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}
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}
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}
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if (valid_escs > 0) {
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rpm_avg /= valid_escs;
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}
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return rpm_avg;
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}
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// return all the motor frequencies in Hz for dynamic filtering
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uint8_t AP_ESC_Telem::get_motor_frequencies_hz(uint8_t nfreqs, float* freqs) const
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{
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uint8_t valid_escs = 0;
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// average the rpm of each motor as reported by BLHeli and convert to Hz
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for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS && valid_escs < nfreqs; i++) {
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float rpm;
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if (get_rpm(i, rpm)) {
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freqs[valid_escs++] = rpm * (1.0f / 60.0f);
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} else if (_rpm_data[i].last_update_us > 0) {
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// if we have ever received data on an ESC, mark it as valid but with no data
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// this prevents large frequency shifts when ESCs disappear
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freqs[valid_escs++] = 0.0f;
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}
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}
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return MIN(valid_escs, nfreqs);
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}
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// get mask of ESCs that sent valid telemetry and/or rpm data in the last
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// ESC_TELEM_DATA_TIMEOUT_MS/ESC_RPM_DATA_TIMEOUT_US
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uint32_t AP_ESC_Telem::get_active_esc_mask() const {
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uint32_t ret = 0;
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const uint32_t now = AP_HAL::millis();
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uint32_t now_us = AP_HAL::micros();
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for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
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if (now - _telem_data[i].last_update_ms >= ESC_TELEM_DATA_TIMEOUT_MS
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&& now_us - _rpm_data[i].last_update_us >= ESC_RPM_DATA_TIMEOUT_US) {
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continue;
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}
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if (_telem_data[i].last_update_ms == 0 && _rpm_data[i].last_update_us == 0) {
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// have never seen telem from this ESC
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continue;
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}
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ret |= (1U << i);
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}
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return ret;
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}
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// return number of active ESCs present
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uint8_t AP_ESC_Telem::get_num_active_escs() const {
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uint32_t active = get_active_esc_mask();
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return __builtin_popcount(active);
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}
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// return the whether all the motors in servo_channel_mask are running
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bool AP_ESC_Telem::are_motors_running(uint32_t servo_channel_mask, float min_rpm) const
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{
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const uint32_t now = AP_HAL::micros();
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for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
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if (BIT_IS_SET(servo_channel_mask, i)) {
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const volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[i];
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// we choose a relatively strict measure of health so that failsafe actions can rely on the results
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if (now < rpmdata.last_update_us || now - rpmdata.last_update_us > ESC_RPM_CHECK_TIMEOUT_US) {
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return false;
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}
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if (rpmdata.rpm < min_rpm) {
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return false;
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}
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}
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}
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return true;
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}
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// is telemetry active for the provided channel mask
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bool AP_ESC_Telem::is_telemetry_active(uint32_t servo_channel_mask) const
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{
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for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
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if (BIT_IS_SET(servo_channel_mask, i)) {
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// no data received
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if (get_last_telem_data_ms(i) == 0 && _rpm_data[i].last_update_us == 0) {
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return false;
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}
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}
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}
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return true;
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}
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// get an individual ESC's slewed rpm if available, returns true on success
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bool AP_ESC_Telem::get_rpm(uint8_t esc_index, float& rpm) const
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{
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if (esc_index >= ESC_TELEM_MAX_ESCS) {
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return false;
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}
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const volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[esc_index];
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if (is_zero(rpmdata.update_rate_hz)) {
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return false;
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}
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const uint32_t now = AP_HAL::micros();
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if (rpmdata.last_update_us > 0 && (now >= rpmdata.last_update_us)
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&& (now - rpmdata.last_update_us < ESC_RPM_DATA_TIMEOUT_US)) {
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const float slew = MIN(1.0f, (now - rpmdata.last_update_us) * rpmdata.update_rate_hz * (1.0f / 1e6f));
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rpm = (rpmdata.prev_rpm + (rpmdata.rpm - rpmdata.prev_rpm) * slew);
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#if AP_SCRIPTING_ENABLED
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if ((1U<<esc_index) & rpm_scale_mask) {
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rpm *= rpm_scale_factor[esc_index];
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}
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#endif
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return true;
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}
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return false;
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}
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// get an individual ESC's raw rpm if available, returns true on success
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bool AP_ESC_Telem::get_raw_rpm(uint8_t esc_index, float& rpm) const
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{
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if (esc_index >= ESC_TELEM_MAX_ESCS) {
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return false;
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}
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const volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[esc_index];
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const uint32_t now = AP_HAL::micros();
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if (now < rpmdata.last_update_us || now - rpmdata.last_update_us > ESC_RPM_DATA_TIMEOUT_US) {
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return false;
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}
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rpm = rpmdata.rpm;
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return true;
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}
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// get an individual ESC's temperature in centi-degrees if available, returns true on success
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bool AP_ESC_Telem::get_temperature(uint8_t esc_index, int16_t& temp) const
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{
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if (esc_index >= ESC_TELEM_MAX_ESCS
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|| AP_HAL::millis() - _telem_data[esc_index].last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS
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|| !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE)) {
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return false;
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}
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temp = _telem_data[esc_index].temperature_cdeg;
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return true;
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}
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// get an individual motor's temperature in centi-degrees if available, returns true on success
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bool AP_ESC_Telem::get_motor_temperature(uint8_t esc_index, int16_t& temp) const
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{
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if (esc_index >= ESC_TELEM_MAX_ESCS
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|| AP_HAL::millis() - _telem_data[esc_index].last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS
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|| !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE)) {
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return false;
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}
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temp = _telem_data[esc_index].motor_temp_cdeg;
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return true;
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}
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// get the highest ESC temperature in centi-degrees if available, returns true if there is valid data for at least one ESC
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bool AP_ESC_Telem::get_highest_motor_temperature(int16_t& temp) const
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{
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uint8_t valid_escs = 0;
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for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
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int16_t temp_temp;
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if (get_motor_temperature(i, temp_temp)) {
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temp = MAX(temp, temp_temp);
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valid_escs++;
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}
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}
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return valid_escs > 0;
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}
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// get an individual ESC's current in Ampere if available, returns true on success
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bool AP_ESC_Telem::get_current(uint8_t esc_index, float& amps) const
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{
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if (esc_index >= ESC_TELEM_MAX_ESCS
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|| AP_HAL::millis() - _telem_data[esc_index].last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS
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|| !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::CURRENT)) {
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return false;
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}
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amps = _telem_data[esc_index].current;
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return true;
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}
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// get an individual ESC's voltage in Volt if available, returns true on success
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bool AP_ESC_Telem::get_voltage(uint8_t esc_index, float& volts) const
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{
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if (esc_index >= ESC_TELEM_MAX_ESCS
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|| AP_HAL::millis() - _telem_data[esc_index].last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS
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|| !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)) {
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return false;
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}
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volts = _telem_data[esc_index].voltage;
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return true;
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}
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// get an individual ESC's energy consumption in milli-Ampere.hour if available, returns true on success
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bool AP_ESC_Telem::get_consumption_mah(uint8_t esc_index, float& consumption_mah) const
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{
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if (esc_index >= ESC_TELEM_MAX_ESCS
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|| AP_HAL::millis() - _telem_data[esc_index].last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS
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|| !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION)) {
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return false;
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}
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consumption_mah = _telem_data[esc_index].consumption_mah;
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return true;
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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_index, uint32_t& usage_s) const
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{
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if (esc_index >= ESC_TELEM_MAX_ESCS
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|| AP_HAL::millis() - _telem_data[esc_index].last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS
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|| !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::USAGE)) {
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return false;
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}
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usage_s = _telem_data[esc_index].usage_s;
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return true;
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}
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// send ESC telemetry messages over MAVLink
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void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
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{
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#if HAL_GCS_ENABLED
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if (!_have_data) {
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// we've never had any data
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return;
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}
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uint32_t now = AP_HAL::millis();
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uint32_t now_us = AP_HAL::micros();
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// loop through groups of 4 ESCs
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const uint8_t esc_offset = constrain_int16(mavlink_offset, 0, ESC_TELEM_MAX_ESCS-1);
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const uint8_t num_idx = ESC_TELEM_MAX_ESCS/4;
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for (uint8_t idx = 0; idx < num_idx; idx++) {
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const uint8_t i = (next_idx + idx) % num_idx;
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// return if no space in output buffer to send mavlink messages
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if (!HAVE_PAYLOAD_SPACE((mavlink_channel_t)mav_chan, ESC_TELEMETRY_1_TO_4)) {
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// not enough mavlink buffer space, start at this index next time
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next_idx = i;
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return;
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}
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bool all_stale = true;
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for (uint8_t j=0; j<4; j++) {
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const uint8_t esc_id = (i * 4 + j) + esc_offset;
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if (esc_id < ESC_TELEM_MAX_ESCS &&
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(now - _telem_data[esc_id].last_update_ms <= ESC_TELEM_DATA_TIMEOUT_MS ||
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now_us - _rpm_data[esc_id].last_update_us <= ESC_RPM_DATA_TIMEOUT_US)) {
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all_stale = false;
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break;
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}
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}
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if (all_stale) {
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// skip this group of ESCs if no data to send
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continue;
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}
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// arrays to hold output
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mavlink_esc_telemetry_1_to_4_t s {};
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// fill in output arrays
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for (uint8_t j = 0; j < 4; j++) {
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const uint8_t esc_id = (i * 4 + j) + esc_offset;
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if (esc_id >= ESC_TELEM_MAX_ESCS) {
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continue;
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}
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s.temperature[j] = _telem_data[esc_id].temperature_cdeg / 100;
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s.voltage[j] = constrain_float(_telem_data[esc_id].voltage * 100.0f, 0, UINT16_MAX);
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s.current[j] = constrain_float(_telem_data[esc_id].current * 100.0f, 0, UINT16_MAX);
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s.totalcurrent[j] = constrain_float(_telem_data[esc_id].consumption_mah, 0, UINT16_MAX);
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float rpmf = 0.0f;
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if (get_rpm(esc_id, rpmf)) {
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s.rpm[j] = constrain_float(rpmf, 0, UINT16_MAX);
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}
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s.count[j] = _telem_data[esc_id].count;
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}
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// make sure a msg hasn't been extended
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static_assert(MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_5_TO_8_LEN &&
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MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_9_TO_12_LEN &&
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MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_13_TO_16_LEN &&
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MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_17_TO_20_LEN &&
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MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_21_TO_24_LEN &&
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MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_21_TO_24_LEN &&
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MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_25_TO_28_LEN &&
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MAVLINK_MSG_ID_ESC_TELEMETRY_1_TO_4_LEN == MAVLINK_MSG_ID_ESC_TELEMETRY_29_TO_32_LEN,
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"telem messages not compatible");
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const mavlink_channel_t chan = (mavlink_channel_t)mav_chan;
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// send messages
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switch (i) {
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case 0:
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mavlink_msg_esc_telemetry_1_to_4_send_struct(chan, &s);
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break;
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case 1:
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mavlink_msg_esc_telemetry_5_to_8_send_struct(chan, (const mavlink_esc_telemetry_5_to_8_t *)&s);
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break;
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case 2:
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mavlink_msg_esc_telemetry_9_to_12_send_struct(chan, (const mavlink_esc_telemetry_9_to_12_t *)&s);
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break;
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case 3:
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mavlink_msg_esc_telemetry_13_to_16_send_struct(chan, (const mavlink_esc_telemetry_13_to_16_t *)&s);
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break;
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#if ESC_TELEM_MAX_ESCS > 16
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case 4:
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mavlink_msg_esc_telemetry_17_to_20_send_struct(chan, (const mavlink_esc_telemetry_17_to_20_t *)&s);
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break;
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case 5:
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mavlink_msg_esc_telemetry_21_to_24_send_struct(chan, (const mavlink_esc_telemetry_21_to_24_t *)&s);
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break;
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case 6:
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mavlink_msg_esc_telemetry_25_to_28_send_struct(chan, (const mavlink_esc_telemetry_25_to_28_t *)&s);
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break;
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case 7:
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mavlink_msg_esc_telemetry_29_to_32_send_struct(chan, (const mavlink_esc_telemetry_29_to_32_t *)&s);
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break;
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#endif
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}
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}
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// we checked for all sends without running out of buffer space,
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// start at zero next time
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next_idx = 0;
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#endif // HAL_GCS_ENABLED
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}
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// record an update to the telemetry data together with timestamp
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// this should be called by backends when new telemetry values are available
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void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem_Backend::TelemetryData& new_data, const uint16_t data_mask)
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{
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// rpm and telemetry data are not protected by a semaphore even though updated from different threads
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// all data is per-ESC and only written from the update thread and read by the user thread
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// each element is a primitive type and the timestamp is only updated at the end, thus a caller
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// can only get slightly more up-to-date information that perhaps they were expecting or might
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// read data that has just gone stale - both of these are safe and avoid the overhead of locking
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if (esc_index >= ESC_TELEM_MAX_ESCS) {
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return;
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}
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_have_data = true;
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if (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE) {
|
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_telem_data[esc_index].temperature_cdeg = new_data.temperature_cdeg;
|
|
}
|
|
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE) {
|
|
_telem_data[esc_index].motor_temp_cdeg = new_data.motor_temp_cdeg;
|
|
}
|
|
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::VOLTAGE) {
|
|
_telem_data[esc_index].voltage = new_data.voltage;
|
|
}
|
|
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::CURRENT) {
|
|
_telem_data[esc_index].current = new_data.current;
|
|
}
|
|
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION) {
|
|
_telem_data[esc_index].consumption_mah = new_data.consumption_mah;
|
|
}
|
|
if (data_mask & AP_ESC_Telem_Backend::TelemetryType::USAGE) {
|
|
_telem_data[esc_index].usage_s = new_data.usage_s;
|
|
}
|
|
|
|
_telem_data[esc_index].count++;
|
|
_telem_data[esc_index].types |= data_mask;
|
|
_telem_data[esc_index].last_update_ms = AP_HAL::millis();
|
|
}
|
|
|
|
// record an update to the RPM together with timestamp, this allows the notch values to be slewed
|
|
// this should be called by backends when new telemetry values are available
|
|
void AP_ESC_Telem::update_rpm(const uint8_t esc_index, const float new_rpm, const float error_rate)
|
|
{
|
|
if (esc_index >= ESC_TELEM_MAX_ESCS) {
|
|
return;
|
|
}
|
|
|
|
_have_data = true;
|
|
|
|
const uint32_t now = AP_HAL::micros();
|
|
volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[esc_index];
|
|
const auto last_update_us = rpmdata.last_update_us;
|
|
|
|
rpmdata.prev_rpm = rpmdata.rpm;
|
|
rpmdata.rpm = new_rpm;
|
|
if (now > last_update_us) { // cope with wrapping
|
|
rpmdata.update_rate_hz = 1.0e6f / (now - last_update_us);
|
|
}
|
|
rpmdata.last_update_us = now;
|
|
rpmdata.error_rate = error_rate;
|
|
|
|
#ifdef ESC_TELEM_DEBUG
|
|
hal.console->printf("RPM: rate=%.1fhz, rpm=%d)\n", rpmdata.update_rate_hz, new_rpm);
|
|
#endif
|
|
}
|
|
|
|
void AP_ESC_Telem::update()
|
|
{
|
|
AP_Logger *logger = AP_Logger::get_singleton();
|
|
|
|
// Push received telemetry data into the logging system
|
|
if (logger && logger->logging_enabled()) {
|
|
|
|
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
|
|
if (_telem_data[i].last_update_ms != _last_telem_log_ms[i]
|
|
|| _rpm_data[i].last_update_us != _last_rpm_log_us[i]) {
|
|
|
|
float rpm = 0.0f;
|
|
get_rpm(i, rpm);
|
|
float rawrpm = 0.0f;
|
|
get_raw_rpm(i, rawrpm);
|
|
|
|
// Write ESC status messages
|
|
// id starts from 0
|
|
// rpm is eRPM (rpm * 100)
|
|
// voltage is in Volt
|
|
// current is in Ampere
|
|
// esc_temp is in centi-degrees Celsius
|
|
// current_tot is in milli-Ampere hours
|
|
// motor_temp is in centi-degrees Celsius
|
|
// error_rate is in percentage
|
|
const struct log_Esc pkt{
|
|
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
|
|
time_us : AP_HAL::micros64(),
|
|
instance : i,
|
|
rpm : (int32_t) rpm * 100,
|
|
raw_rpm : (int32_t) rawrpm * 100,
|
|
voltage : _telem_data[i].voltage,
|
|
current : _telem_data[i].current,
|
|
esc_temp : _telem_data[i].temperature_cdeg,
|
|
current_tot : _telem_data[i].consumption_mah,
|
|
motor_temp : _telem_data[i].motor_temp_cdeg,
|
|
error_rate : _rpm_data[i].error_rate
|
|
};
|
|
AP::logger().WriteBlock(&pkt, sizeof(pkt));
|
|
_last_telem_log_ms[i] = _telem_data[i].last_update_ms;
|
|
_last_rpm_log_us[i] = _rpm_data[i].last_update_us;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#if AP_SCRIPTING_ENABLED
|
|
/*
|
|
set RPM scale factor from script
|
|
*/
|
|
void AP_ESC_Telem::set_rpm_scale(const uint8_t esc_index, const float scale_factor)
|
|
{
|
|
if (esc_index < ESC_TELEM_MAX_ESCS) {
|
|
rpm_scale_factor[esc_index] = scale_factor;
|
|
rpm_scale_mask |= (1U<<esc_index);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
AP_ESC_Telem *AP_ESC_Telem::_singleton = nullptr;
|
|
|
|
/*
|
|
* Get the AP_ESC_Telem singleton
|
|
*/
|
|
AP_ESC_Telem *AP_ESC_Telem::get_singleton()
|
|
{
|
|
return AP_ESC_Telem::_singleton;
|
|
}
|
|
|
|
namespace AP {
|
|
|
|
AP_ESC_Telem &esc_telem()
|
|
{
|
|
return *AP_ESC_Telem::get_singleton();
|
|
}
|
|
|
|
};
|
|
|
|
#endif
|