mirror of https://github.com/ArduPilot/ardupilot
132 lines
3.4 KiB
C++
132 lines
3.4 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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#pragma once
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#include "AP_RPM_config.h"
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#if AP_RPM_ENABLED
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL_Boards.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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#include "AP_RPM_Params.h"
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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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CLASS_NO_COPY(AP_RPM); /* Do not allow copies */
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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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#if AP_RPM_PIN_ENABLED
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RPM_TYPE_PWM = 1,
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RPM_TYPE_PIN = 2,
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#endif
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#if AP_RPM_EFI_ENABLED
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RPM_TYPE_EFI = 3,
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#endif
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#if AP_RPM_HARMONICNOTCH_ENABLED
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RPM_TYPE_HNTCH = 4,
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#endif
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#if AP_RPM_ESC_TELEM_ENABLED
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RPM_TYPE_ESC_TELEM = 5,
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#endif
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#if AP_RPM_GENERATOR_ENABLED
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RPM_TYPE_GENERATOR = 6,
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#endif
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#if AP_RPM_DRONECAN_ENABLED
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RPM_TYPE_DRONECAN = 7,
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#endif
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#if AP_RPM_SIM_ENABLED
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RPM_TYPE_SITL = 10,
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#endif
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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_RPM_Params _params[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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bool get_rpm(uint8_t instance, float &rpm_value) const;
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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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// check settings are valid
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bool arming_checks(size_t buflen, char *buffer) const;
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#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
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// Return the sensor id to use for streaming over DroneCAN, negative number disables
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int8_t get_dronecan_sensor_id(uint8_t instance) const;
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#endif
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private:
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void convert_params(void);
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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;
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void Log_RPM() const;
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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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#endif // AP_RPM_ENABLED
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