mirror of https://github.com/ArduPilot/ardupilot
110 lines
3.0 KiB
C++
110 lines
3.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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// Maximum number of RPM measurement instances available on this platform
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#define RPM_MAX_INSTANCES 2
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class AP_RPM_Backend;
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class AP_RPM
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{
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friend class AP_RPM_Backend;
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public:
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AP_RPM();
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/* Do not allow copies */
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AP_RPM(const AP_RPM &other) = delete;
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AP_RPM &operator=(const AP_RPM&) = delete;
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// RPM driver types
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enum RPM_Type {
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RPM_TYPE_NONE = 0,
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RPM_TYPE_PWM = 1,
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RPM_TYPE_PIN = 2
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};
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// The RPM_State structure is filled in by the backend driver
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struct RPM_State {
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uint8_t instance; // the instance number of this RPM
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float rate_rpm; // measured rate in revs per minute
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uint32_t last_reading_ms; // time of last reading
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float signal_quality; // synthetic quality metric
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};
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// parameters for each instance
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AP_Int8 _type[RPM_MAX_INSTANCES];
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AP_Int8 _pin[RPM_MAX_INSTANCES];
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AP_Float _scaling[RPM_MAX_INSTANCES];
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AP_Float _maximum[RPM_MAX_INSTANCES];
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AP_Float _minimum[RPM_MAX_INSTANCES];
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AP_Float _quality_min[RPM_MAX_INSTANCES];
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static const struct AP_Param::GroupInfo var_info[];
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// Return the number of rpm sensor instances
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uint8_t num_sensors(void) const {
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return num_instances;
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}
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// detect and initialise any available rpm sensors
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void init(void);
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// update state of all rpm sensors. Should be called from main loop
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void update(void);
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/*
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return RPM for a sensor. Return -1 if not healthy
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*/
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float get_rpm(uint8_t instance) const {
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if (!healthy(instance)) {
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return -1;
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}
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return state[instance].rate_rpm;
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}
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/*
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return signal quality for a sensor.
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*/
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float get_signal_quality(uint8_t instance) const {
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return state[instance].signal_quality;
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}
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bool healthy(uint8_t instance) const;
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bool enabled(uint8_t instance) const;
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static AP_RPM *get_singleton() { return _singleton; }
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private:
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static AP_RPM *_singleton;
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RPM_State state[RPM_MAX_INSTANCES];
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AP_RPM_Backend *drivers[RPM_MAX_INSTANCES];
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uint8_t num_instances:2;
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void detect_instance(uint8_t instance);
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};
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namespace AP {
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AP_RPM *rpm();
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};
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