mirror of https://github.com/ArduPilot/ardupilot
107 lines
2.7 KiB
C++
107 lines
2.7 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#ifndef GENERATOR_ENABLED
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#define GENERATOR_ENABLED !HAL_MINIMIZE_FEATURES && !defined(HAL_BUILD_AP_PERIPH)
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#endif
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#if GENERATOR_ENABLED
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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class AP_Generator_Backend;
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class AP_Generator_IE_650_800;
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class AP_Generator_IE_2400;
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class AP_Generator_RichenPower;
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class AP_Generator
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{
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friend class AP_Generator_Backend;
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friend class AP_Generator_IE_650_800;
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friend class AP_Generator_IE_2400;
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friend class AP_Generator_RichenPower;
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public:
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// Constructor
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AP_Generator();
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// Do not allow copies
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AP_Generator(const AP_Generator &other) = delete;
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AP_Generator &operator=(const AP_Generator&) = delete;
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static AP_Generator* get_singleton();
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void init(void);
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void update(void);
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bool pre_arm_check(char *failmsg, uint8_t failmsg_len) const;
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AP_BattMonitor::Failsafe update_failsafes(void);
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// Helpers to retrieve measurements
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float get_voltage(void) const { return _voltage; }
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float get_current(void) const { return _current; }
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float get_fuel_remain(void) const { return _fuel_remain_pct; }
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float get_batt_consumed(void) const { return _consumed_mah; }
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uint16_t get_rpm(void) const { return _rpm; }
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// Helpers to see if backend has a measurement
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bool has_current() const { return _has_current; }
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bool has_consumed_energy() const { return _has_consumed_energy; }
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bool has_fuel_remaining() const { return _has_fuel_remaining; }
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// healthy() returns true if the generator is not present, or it is
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// present, providing telemetry and not indicating any errors.
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bool healthy(void) const { return _healthy; }
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// Generator controls must return true if present in generator type
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bool stop(void);
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bool idle(void);
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bool run(void);
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void send_generator_status(const GCS_MAVLINK &channel);
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// Parameter block
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// Pointer to chosen driver
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AP_Generator_Backend* _driver_ptr;
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// Parameters
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AP_Int8 _type; // Select which generator to use
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enum class Type {
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GEN_DISABLED = 0,
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IE_650_800 = 1,
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IE_2400 = 2,
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RICHENPOWER = 3,
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};
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// Helper to get param and cast to GenType
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Type type(void) const;
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// Front end variables
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float _voltage;
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float _current;
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float _fuel_remain_pct;
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float _consumed_mah;
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uint16_t _rpm;
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bool _healthy;
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bool _has_current;
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bool _has_consumed_energy;
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bool _has_fuel_remaining;
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static AP_Generator *_singleton;
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};
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namespace AP {
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AP_Generator *generator();
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};
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#endif
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