ardupilot/libraries/AP_ESC_Telem/AP_ESC_Telem.h

124 lines
4.5 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include "AP_ESC_Telem_Backend.h"
#if HAL_WITH_ESC_TELEM
#ifdef NUM_SERVO_CHANNELS
#define ESC_TELEM_MAX_ESCS NUM_SERVO_CHANNELS
#elif !HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024
#define ESC_TELEM_MAX_ESCS 32
#else
#define ESC_TELEM_MAX_ESCS 16
#endif
#define ESC_TELEM_DATA_TIMEOUT_MS 5000UL
#define ESC_RPM_DATA_TIMEOUT_US 1000000UL
class AP_ESC_Telem {
public:
friend class AP_ESC_Telem_Backend;
AP_ESC_Telem();
/* Do not allow copies */
CLASS_NO_COPY(AP_ESC_Telem);
static const struct AP_Param::GroupInfo var_info[];
static AP_ESC_Telem *get_singleton();
// get an individual ESC's slewed rpm if available, returns true on success
bool get_rpm(uint8_t esc_index, float& rpm) const;
// get an individual ESC's raw rpm if available
bool get_raw_rpm(uint8_t esc_index, float& rpm) const;
// return the average motor RPM
float get_average_motor_rpm(uint32_t servo_channel_mask) const;
// return the average motor RPM
float get_average_motor_rpm() const { return get_average_motor_rpm(0xFFFFFFFF); }
// get an individual ESC's temperature in centi-degrees if available, returns true on success
bool get_temperature(uint8_t esc_index, int16_t& temp) const;
// get an individual motor's temperature in centi-degrees if available, returns true on success
bool get_motor_temperature(uint8_t esc_index, int16_t& temp) const;
// get the highest ESC temperature in centi-degrees if available, returns true if there is valid data for at least one ESC
bool get_highest_motor_temperature(int16_t& temp) const;
// get an individual ESC's current in Ampere if available, returns true on success
bool get_current(uint8_t esc_index, float& amps) const;
// get an individual ESC's usage time in seconds if available, returns true on success
bool get_usage_seconds(uint8_t esc_index, uint32_t& usage_sec) const;
// get an individual ESC's voltage in Volt if available, returns true on success
bool get_voltage(uint8_t esc_index, float& volts) const;
// get an individual ESC's consumption in milli-Ampere.hour if available, returns true on success
bool get_consumption_mah(uint8_t esc_index, float& consumption_mah) const;
// return the average motor frequency in Hz for dynamic filtering
float get_average_motor_frequency_hz(uint32_t servo_channel_mask) const { return get_average_motor_rpm(servo_channel_mask) * (1.0f / 60.0f); };
// return the average motor frequency in Hz for dynamic filtering
float get_average_motor_frequency_hz() const { return get_average_motor_frequency_hz(0xFFFFFFFF); }
// return all of the motor frequencies in Hz for dynamic filtering
uint8_t get_motor_frequencies_hz(uint8_t nfreqs, float* freqs) const;
// get the number of ESCs that sent valid telemetry data in the last ESC_TELEM_DATA_TIMEOUT_MS
uint8_t get_num_active_escs() const;
// get mask of ESCs that sent valid telemetry data in the last
// ESC_TELEM_DATA_TIMEOUT_MS
uint32_t get_active_esc_mask() const;
// return the last time telemetry data was received in ms for the given ESC or 0 if never
uint32_t get_last_telem_data_ms(uint8_t esc_index) const {
if (esc_index >= ESC_TELEM_MAX_ESCS) {return 0;}
return _telem_data[esc_index].last_update_ms;
}
// send telemetry data to mavlink
void send_esc_telemetry_mavlink(uint8_t mav_chan);
// udpate at 10Hz to log telemetry
void update();
// callback to update the rpm in the frontend, should be called by the driver when new data is available
// can also be called from scripting
void update_rpm(const uint8_t esc_index, const uint16_t new_rpm, const float error_rate);
private:
// callback to update the data in the frontend, should be called by the driver when new data is available
void update_telem_data(const uint8_t esc_index, const AP_ESC_Telem_Backend::TelemetryData& new_data, const uint16_t data_mask);
// rpm data
volatile AP_ESC_Telem_Backend::RpmData _rpm_data[ESC_TELEM_MAX_ESCS];
// telemetry data
volatile AP_ESC_Telem_Backend::TelemetryData _telem_data[ESC_TELEM_MAX_ESCS];
uint32_t _last_telem_log_ms[ESC_TELEM_MAX_ESCS];
uint32_t _last_rpm_log_us[ESC_TELEM_MAX_ESCS];
uint8_t next_idx;
bool _have_data;
AP_Int8 mavlink_offset;
static AP_ESC_Telem *_singleton;
};
namespace AP {
AP_ESC_Telem &esc_telem();
};
#endif // HAL_WITH_ESC_TELEM