mirror of https://github.com/ArduPilot/ardupilot
109 lines
4.2 KiB
C++
109 lines
4.2 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_ESC_Telem_Backend.h"
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#if HAL_WITH_ESC_TELEM
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#define ESC_TELEM_MAX_ESCS 12
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#define ESC_TELEM_DATA_TIMEOUT_MS 5000UL
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#define ESC_RPM_DATA_TIMEOUT_US 1000000UL
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class AP_ESC_Telem {
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public:
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friend class AP_ESC_Telem_Backend;
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AP_ESC_Telem();
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/* Do not allow copies */
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AP_ESC_Telem(const AP_ESC_Telem &other) = delete;
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AP_ESC_Telem &operator=(const AP_ESC_Telem&) = delete;
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static AP_ESC_Telem *get_singleton();
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// get an individual ESC's slewed rpm if available, returns true on success
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bool get_rpm(uint8_t esc_index, float& rpm) const;
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// get an individual ESC's raw rpm if available
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bool get_raw_rpm(uint8_t esc_index, float& rpm) const;
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// return the average motor RPM
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float get_average_motor_rpm(uint32_t servo_channel_mask) const;
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// return the average motor RPM
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float get_average_motor_rpm() const { return get_average_motor_rpm(0xFFFFFFFF); }
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// get an individual ESC's temperature in centi-degrees if available, returns true on success
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bool get_temperature(uint8_t esc_index, int16_t& temp) const;
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// get an individual motor's temperature in centi-degrees if available, returns true on success
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bool get_motor_temperature(uint8_t esc_index, int16_t& temp) const;
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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 get_highest_motor_temperature(int16_t& temp) const;
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// get an individual ESC's current in Ampere if available, returns true on success
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bool get_current(uint8_t esc_index, float& amps) const;
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// get an individual ESC's usage time in seconds if available, returns true on success
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bool get_usage_seconds(uint8_t esc_index, uint32_t& usage_sec) const;
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// get an individual ESC's voltage in Volt if available, returns true on success
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bool get_voltage(uint8_t esc_index, float& volts) const;
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// get an individual ESC's consumption in milli-Ampere.hour if available, returns true on success
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bool get_consumption_mah(uint8_t esc_index, float& consumption_mah) const;
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// return the average motor frequency in Hz for dynamic filtering
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float get_average_motor_frequency_hz(uint32_t servo_channel_mask) const { return get_average_motor_rpm(servo_channel_mask) * (1.0f / 60.0f); };
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// return the average motor frequency in Hz for dynamic filtering
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float get_average_motor_frequency_hz() const { return get_average_motor_frequency_hz(0xFFFFFFFF); }
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// return all of the motor frequencies in Hz for dynamic filtering
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uint8_t get_motor_frequencies_hz(uint8_t nfreqs, float* freqs) const;
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// get the number of ESCs that sent valid telemetry data in the last ESC_TELEM_DATA_TIMEOUT_MS
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uint8_t get_num_active_escs() const;
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// get mask of ESCs that sent valid telemetry data in the last
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// ESC_TELEM_DATA_TIMEOUT_MS
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uint16_t get_active_esc_mask() const;
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// return the last time telemetry data was received in ms for the given ESC or 0 if never
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uint32_t get_last_telem_data_ms(uint8_t esc_index) const {
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if (esc_index >= ESC_TELEM_MAX_ESCS) {return 0;}
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return _telem_data[esc_index].last_update_ms;
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}
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// send telemetry data to mavlink
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void send_esc_telemetry_mavlink(uint8_t mav_chan);
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// udpate at 10Hz to log telemetry
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void update();
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private:
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// callback to update the rpm in the frontend, should be called by the driver when new data is available
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void update_rpm(const uint8_t esc_index, const uint16_t new_rpm, const float error_rate);
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// callback to update the data in the frontend, should be called by the driver when new data is available
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void 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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// rpm data
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volatile AP_ESC_Telem_Backend::RpmData _rpm_data[ESC_TELEM_MAX_ESCS];
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// telemetry data
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volatile AP_ESC_Telem_Backend::TelemetryData _telem_data[ESC_TELEM_MAX_ESCS];
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uint32_t _last_telem_log_ms[ESC_TELEM_MAX_ESCS];
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uint32_t _last_rpm_log_us[ESC_TELEM_MAX_ESCS];
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bool _have_data;
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static 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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#endif
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