ardupilot/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp

75 lines
2.0 KiB
C++

/*
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/>.
*/
#include "AP_ESC_Telem.h"
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_KDECAN/AP_KDECAN.h>
#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
#endif
extern const AP_HAL::HAL& hal;
AP_ESC_Telem::AP_ESC_Telem()
{
if (_singleton) {
AP_HAL::panic("Too many AP_ESC_Telem instances");
}
_singleton = this;
}
// get an individual ESC's usage time in seconds if available, returns true on success
bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_id, uint32_t& usage_sec) const
{
#if HAL_WITH_UAVCAN
const uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
if (AP::can().get_protocol_type(i) == AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN) {
AP_ToshibaCAN *tcan = AP_ToshibaCAN::get_tcan(i);
if (tcan != nullptr) {
usage_sec = tcan->get_usage_seconds(esc_id);
return true;
}
return true;
}
}
#endif
return false;
}
AP_ESC_Telem *AP_ESC_Telem::_singleton = nullptr;
/*
* Get the AP_InertialSensor 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();
}
};