ardupilot/libraries/AP_RPM/AP_RPM.h

98 lines
2.8 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
// Maximum number of RPM measurement instances available on this platform
#define RPM_MAX_INSTANCES 2
class AP_RPM_Backend;
class AP_RPM
{
public:
friend class AP_RPM_Backend;
AP_RPM(void);
// RPM driver types
enum RPM_Type {
RPM_TYPE_NONE = 0,
RPM_TYPE_PX4_PWM = 1
};
// The RPM_State structure is filled in by the backend driver
struct RPM_State {
uint8_t instance; // the instance number of this RPM
float rate_rpm; // measured rate in revs per minute
uint32_t last_reading_ms; // time of last reading
float signal_quality; // synthetic quality metric
};
// parameters for each instance
AP_Int8 _type[RPM_MAX_INSTANCES];
AP_Float _scaling[RPM_MAX_INSTANCES];
AP_Float _maximum[RPM_MAX_INSTANCES];
AP_Float _minimum[RPM_MAX_INSTANCES];
AP_Float _quality_min[RPM_MAX_INSTANCES];
static const struct AP_Param::GroupInfo var_info[];
// Return the number of rpm sensor instances
uint8_t num_sensors(void) const {
return num_instances;
}
// detect and initialise any available rpm sensors
void init(void);
// update state of all rpm sensors. Should be called from main loop
void update(void);
/*
return RPM for a sensor. Return -1 if not healthy
*/
float get_rpm(uint8_t instance) const {
if (!healthy(instance)) {
return -1;
}
return state[instance].rate_rpm;
}
/*
return signal quality for a sensor.
*/
float get_signal_quality(uint8_t instance) const {
return state[instance].signal_quality;
}
bool healthy(uint8_t instance) const;
bool enabled(uint8_t instance) const;
private:
RPM_State state[RPM_MAX_INSTANCES];
AP_RPM_Backend *drivers[RPM_MAX_INSTANCES];
uint8_t num_instances:2;
void detect_instance(uint8_t instance);
void update_instance(uint8_t instance);
};