mirror of https://github.com/ArduPilot/ardupilot
93 lines
3.1 KiB
C++
93 lines
3.1 KiB
C++
#pragma once
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#include "AP_ESC_Telem_config.h"
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#if HAL_WITH_ESC_TELEM
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class AP_ESC_Telem;
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class AP_ESC_Telem_Backend {
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public:
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struct TelemetryData {
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int16_t temperature_cdeg; // centi-degrees C, negative values allowed
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float voltage; // Volt
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float current; // Ampere
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float consumption_mah; // milli-Ampere.hours
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uint32_t usage_s; // usage seconds
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int16_t motor_temp_cdeg; // centi-degrees C, negative values allowed
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uint32_t last_update_ms; // last update time in milliseconds, determines whether active
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uint16_t types; // telemetry types present
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uint16_t count; // number of times updated
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#if AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
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uint16_t edt2_status; // status reported by Extended DShot Telemetry v2
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uint16_t edt2_stress; // stress reported in dedicated messages by Extended DShot Telemetry v2
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#endif
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#if AP_EXTENDED_ESC_TELEM_ENABLED
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uint8_t input_duty; // input duty cycle
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uint8_t output_duty; // output duty cycle
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uint32_t flags; // Status flags
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uint8_t power_percentage; // Percentage of output power
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#endif // AP_EXTENDED_ESC_TELEM_ENABLED
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// return true if the data is stale
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bool stale(uint32_t now_ms=0) const volatile;
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};
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struct RpmData {
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float rpm; // rpm
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float prev_rpm; // previous rpm
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float error_rate; // error rate in percent
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uint32_t last_update_us; // last update time, greater then 0 means we've gotten data at some point
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float update_rate_hz;
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bool data_valid; // if this isn't set to true, then the ESC data should be ignored
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};
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enum TelemetryType {
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TEMPERATURE = 1 << 0,
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MOTOR_TEMPERATURE = 1 << 1,
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VOLTAGE = 1 << 2,
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CURRENT = 1 << 3,
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CONSUMPTION = 1 << 4,
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USAGE = 1 << 5,
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TEMPERATURE_EXTERNAL = 1 << 6,
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MOTOR_TEMPERATURE_EXTERNAL = 1 << 7,
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#if AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
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EDT2_STATUS = 1 << 8,
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EDT2_STRESS = 1 << 9,
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#endif
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#if AP_EXTENDED_ESC_TELEM_ENABLED
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INPUT_DUTY = 1 << 10,
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OUTPUT_DUTY = 1 << 11,
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FLAGS = 1 << 12,
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POWER_PERCENTAGE = 1 << 13,
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#endif // AP_EXTENDED_ESC_TELEM_ENABLED
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};
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AP_ESC_Telem_Backend();
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/* Do not allow copies */
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CLASS_NO_COPY(AP_ESC_Telem_Backend);
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protected:
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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 float new_rpm, const float error_rate = 0.0f);
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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 TelemetryData& new_data, const uint16_t data_present_mask);
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private:
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AP_ESC_Telem* _frontend;
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};
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#else
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// dummy empty class
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class AP_ESC_Telem_Backend {
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public:
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AP_ESC_Telem_Backend(){};
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};
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#endif
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