ardupilot/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h

76 lines
2.3 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include <SRV_Channel/SRV_Channel_config.h>
#if defined(NUM_SERVO_CHANNELS) && NUM_SERVO_CHANNELS == 0
#define HAL_WITH_ESC_TELEM 0
#elif !defined(HAL_WITH_ESC_TELEM)
#define HAL_WITH_ESC_TELEM (HAL_SUPPORT_RCOUT_SERIAL || HAL_MAX_CAN_PROTOCOL_DRIVERS) && !defined(HAL_BUILD_AP_PERIPH)
#endif
#if HAL_WITH_ESC_TELEM
class AP_ESC_Telem;
class AP_ESC_Telem_Backend {
public:
struct TelemetryData {
int16_t temperature_cdeg; // centi-degrees C, negative values allowed
float voltage; // Volt
float current; // Ampere
float consumption_mah; // milli-Ampere.hours
uint32_t usage_s; // usage seconds
int16_t motor_temp_cdeg; // centi-degrees C, negative values allowed
uint32_t last_update_ms; // last update time in milliseconds, determines whether active
uint16_t types; // telemetry types present
uint16_t count; // number of times updated
};
struct RpmData {
float rpm; // rpm
float prev_rpm; // previous rpm
float error_rate; // error rate in percent
uint32_t last_update_us; // last update time, determines whether active
float update_rate_hz;
};
enum TelemetryType {
TEMPERATURE = 1 << 0,
MOTOR_TEMPERATURE = 1 << 1,
VOLTAGE = 1 << 2,
CURRENT = 1 << 3,
CONSUMPTION = 1 << 4,
USAGE = 1 << 5,
TEMPERATURE_EXTERNAL = 1 << 6,
MOTOR_TEMPERATURE_EXTERNAL = 1 << 7,
};
AP_ESC_Telem_Backend();
/* Do not allow copies */
CLASS_NO_COPY(AP_ESC_Telem_Backend);
protected:
// callback to update the rpm in the frontend, should be called by the driver when new data is available
void update_rpm(const uint8_t esc_index, const float new_rpm, const float error_rate = 0.0f);
// callback to update the data in the frontend, should be called by the driver when new data is available
void update_telem_data(const uint8_t esc_index, const TelemetryData& new_data, const uint16_t data_present_mask);
private:
AP_ESC_Telem* _frontend;
};
#else
// dummy empty class
class AP_ESC_Telem_Backend {
public:
AP_ESC_Telem_Backend(){};
};
#endif