mirror of https://github.com/ArduPilot/ardupilot
103 lines
3.4 KiB
C++
103 lines
3.4 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_TemperatureSensor.h"
|
|
|
|
#if AP_TEMPERATURE_SENSOR_ENABLED
|
|
#include "AP_TemperatureSensor_Backend.h"
|
|
|
|
#include <AP_Logger/AP_Logger.h>
|
|
#include <AP_BattMonitor/AP_BattMonitor.h>
|
|
|
|
/*
|
|
base class constructor.
|
|
This incorporates initialisation as well.
|
|
*/
|
|
AP_TemperatureSensor_Backend::AP_TemperatureSensor_Backend(AP_TemperatureSensor &front,
|
|
AP_TemperatureSensor::TemperatureSensor_State &state,
|
|
AP_TemperatureSensor_Params ¶ms):
|
|
_front(front),
|
|
_state(state),
|
|
_params(params)
|
|
{
|
|
}
|
|
|
|
// returns true if a temperature has been recently updated
|
|
bool AP_TemperatureSensor_Backend::healthy(void) const
|
|
{
|
|
return (_state.last_time_ms > 0) && (AP_HAL::millis() - _state.last_time_ms < 5000);
|
|
}
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
void AP_TemperatureSensor_Backend::Log_Write_TEMP() const
|
|
{
|
|
AP::logger().Write("TEMP",
|
|
"TimeUS," "Instance," "Temp" , // labels
|
|
"s" "#" "O" , // units
|
|
"F" "-" "0" , // multipliers
|
|
"Q" "B" "f" , // types
|
|
AP_HAL::micros64(), _state.instance, _state.temperature);
|
|
}
|
|
#endif
|
|
|
|
void AP_TemperatureSensor_Backend::set_temperature(const float temperature)
|
|
{
|
|
{
|
|
WITH_SEMAPHORE(_sem);
|
|
_state.temperature = temperature;
|
|
_state.last_time_ms = AP_HAL::millis();
|
|
}
|
|
|
|
update_external_libraries(temperature);
|
|
}
|
|
|
|
void AP_TemperatureSensor_Backend::update_external_libraries(const float temperature)
|
|
{
|
|
#if HAL_WITH_ESC_TELEM
|
|
AP_ESC_Telem_Backend::TelemetryData t;
|
|
#endif
|
|
|
|
switch ((AP_TemperatureSensor_Params::Source)_params.source.get()) {
|
|
#if HAL_WITH_ESC_TELEM
|
|
case AP_TemperatureSensor_Params::Source::ESC:
|
|
t.temperature_cdeg = temperature * 100;
|
|
update_telem_data(_params.source_id-1, t, AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL);
|
|
break;
|
|
|
|
case AP_TemperatureSensor_Params::Source::Motor:
|
|
t.motor_temp_cdeg = temperature * 100;
|
|
update_telem_data(_params.source_id-1, t, AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL);
|
|
break;
|
|
#endif
|
|
|
|
#if AP_BATTERY_ENABLED
|
|
case AP_TemperatureSensor_Params::Source::Battery_Index:
|
|
AP::battery().set_temperature(temperature, _params.source_id-1);
|
|
break;
|
|
case AP_TemperatureSensor_Params::Source::Battery_ID_SerialNumber:
|
|
AP::battery().set_temperature_by_serial_number(temperature, _params.source_id);
|
|
break;
|
|
#endif
|
|
|
|
case AP_TemperatureSensor_Params::Source::None:
|
|
case AP_TemperatureSensor_Params::Source::Pitot_tube:
|
|
default:
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
#endif // AP_TEMPERATURE_SENSOR_ENABLED
|