mirror of https://github.com/ArduPilot/ardupilot
64 lines
2.0 KiB
C++
64 lines
2.0 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#ifndef HAL_WITH_ESC_TELEM
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#define HAL_WITH_ESC_TELEM HAL_SUPPORT_RCOUT_SERIAL || HAL_MAX_CAN_PROTOCOL_DRIVERS
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#endif
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#if HAL_WITH_ESC_TELEM
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class AP_ESC_Telem;
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class AP_ESC_Telem_Backend {
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public:
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struct TelemetryData {
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int16_t temperature_cdeg; // centi-degrees C, negative values allowed
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float voltage; // Volt
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float current; // Ampere
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float consumption_mah; // milli-Ampere.hours
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uint32_t usage_s; // usage seconds
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int16_t motor_temp_cdeg; // centi-degrees C, negative values allowed
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uint32_t last_update_ms; // last update time in miliseconds, determines whether active
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uint16_t types; // telemetry types present
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uint16_t count; // number of times updated
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};
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struct RpmData {
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float rpm; // rpm
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float prev_rpm; // previous rpm
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float error_rate; // error rate in percent
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uint32_t last_update_us; // last update time, determines whether active
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float update_rate_hz;
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};
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enum TelemetryType {
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TEMPERATURE = 1 << 0,
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MOTOR_TEMPERATURE = 1 << 1,
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VOLTAGE = 1 << 2,
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CURRENT = 1 << 3,
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CONSUMPTION = 1 << 4,
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USAGE = 1 << 5
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};
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AP_ESC_Telem_Backend();
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/* Do not allow copies */
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AP_ESC_Telem_Backend(const AP_ESC_Telem_Backend &other) = delete;
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AP_ESC_Telem_Backend &operator=(const AP_ESC_Telem_Backend&) = delete;
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protected:
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// callback to update the rpm in the frontend, should be called by the driver when new data is available
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void update_rpm(const uint8_t esc_index, const uint16_t new_rpm, const float error_rate = 0.0f);
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// callback to update the data in the frontend, should be called by the driver when new data is available
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void update_telem_data(const uint8_t esc_index, const TelemetryData& new_data, const uint16_t data_present_mask);
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private:
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AP_ESC_Telem* _frontend;
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};
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#endif
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