mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.3 KiB
C++
62 lines
1.3 KiB
C++
/*
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ESC Telemetry for APD ESC.
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#ifdef HAL_PERIPH_ENABLE_ESC_APD
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class ESC_APD_Telem {
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public:
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ESC_APD_Telem (AP_HAL::UARTDriver *_uart, float num_poles);
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bool update();
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CLASS_NO_COPY(ESC_APD_Telem);
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struct telem {
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uint32_t error_count;
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float voltage;
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float current;
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float temperature; // kelvin
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int32_t rpm;
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uint8_t power_rating_pct;
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};
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const telem &get_telem(void) {
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return decoded;
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}
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private:
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AP_HAL::UARTDriver *uart;
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union {
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struct PACKED {
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uint16_t voltage;
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uint16_t temperature;
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int16_t bus_current;
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uint16_t reserved0;
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uint32_t erpm;
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uint16_t input_duty;
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uint16_t motor_duty;
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uint16_t reserved1;
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uint16_t checksum; // 16 bit fletcher checksum
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uint16_t stop; // should always be 65535 on a valid packet
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} packet;
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uint8_t bytes[22];
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} received;
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static_assert(sizeof(received.packet) == sizeof(received.bytes), "The packet must be the same size as the raw buffer");
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uint8_t len;
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struct telem decoded;
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float pole_count;
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float convert_temperature(uint16_t raw) const;
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void shift_buffer(void);
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};
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#endif // HAL_PERIPH_ENABLE_ESC_APD
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