mirror of https://github.com/ArduPilot/ardupilot
86 lines
2.4 KiB
C++
86 lines
2.4 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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#include "AP_ESC_Telem_SITL.h"
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#include "AP_ESC_Telem.h"
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#include <AP_HAL/AP_HAL.h>
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#include <SITL/SITL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_Math/AP_Math.h>
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extern const AP_HAL::HAL& hal;
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AP_ESC_Telem_SITL::AP_ESC_Telem_SITL()
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{
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}
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void AP_ESC_Telem_SITL::update()
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{
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SITL::SIM* sitl = AP::sitl();
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if (!sitl) {
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return;
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}
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#if HAL_WITH_ESC_TELEM
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if (AP_HAL::millis64() < 6000) {
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// this prevents us sending blank data at startup, which triggers
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// ESC telem messages for all channels
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return;
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}
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uint32_t mask = sitl->state.motor_mask;
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/*
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mask out motors we should not be providing telemetry for. On
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AP_Periph SIM_CAN_SRV_MSK are the outputs we will provide
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telemetry for, on the main firmware it is the ones we don't
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provide telemetry for
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*/
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#if defined(HAL_BUILD_AP_PERIPH)
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mask &= uint32_t(sitl->can_servo_mask);
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#else
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mask &= ~uint32_t(sitl->can_servo_mask);
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#endif
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uint8_t bit;
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while ((bit = __builtin_ffs(mask)) != 0) {
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uint8_t motor = bit-1;
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mask &= ~(1U<<motor);
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const float min_rpm = hal.util->get_soft_armed()? sitl->esc_rpm_armed : 0;
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update_rpm(motor, MAX(min_rpm, sitl->state.rpm[motor]));
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// some fake values so that is_telemetry_active() returns true
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TelemetryData t {
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.temperature_cdeg = 3200,
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.voltage = 16.8f,
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.current = 0.8f,
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.consumption_mah = 1.0f,
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};
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update_telem_data(motor, t,
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AP_ESC_Telem_Backend::TelemetryType::CURRENT
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| AP_ESC_Telem_Backend::TelemetryType::VOLTAGE
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| AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION
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| AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
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}
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#endif
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}
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#endif
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