Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include "AP_RPM_config.h"
      18             : 
      19             : #if AP_RPM_ENABLED
      20             : 
      21             : #include <AP_Common/AP_Common.h>
      22             : #include <AP_HAL/AP_HAL_Boards.h>
      23             : #include <AP_Param/AP_Param.h>
      24             : #include <AP_Math/AP_Math.h>
      25             : #include "AP_RPM_Params.h"
      26             : 
      27             : class AP_RPM_Backend;
      28             : 
      29             : class AP_RPM
      30             : {
      31             :     friend class AP_RPM_Backend;
      32             : 
      33             : public:
      34             :     AP_RPM();
      35             : 
      36             :     CLASS_NO_COPY(AP_RPM);  /* Do not allow copies */
      37             : 
      38             :     // RPM driver types
      39             :     enum RPM_Type {
      40             :         RPM_TYPE_NONE    = 0,
      41             : #if AP_RPM_PIN_ENABLED
      42             :         RPM_TYPE_PWM     = 1,
      43             :         RPM_TYPE_PIN     = 2,
      44             : #endif
      45             : #if AP_RPM_EFI_ENABLED
      46             :         RPM_TYPE_EFI     = 3,
      47             : #endif
      48             : #if AP_RPM_HARMONICNOTCH_ENABLED
      49             :         RPM_TYPE_HNTCH   = 4,
      50             : #endif
      51             : #if AP_RPM_ESC_TELEM_ENABLED
      52             :         RPM_TYPE_ESC_TELEM  = 5,
      53             : #endif
      54             : #if AP_RPM_GENERATOR_ENABLED
      55             :         RPM_TYPE_GENERATOR  = 6,
      56             : #endif
      57             : #if AP_RPM_DRONECAN_ENABLED
      58             :         RPM_TYPE_DRONECAN = 7,
      59             : #endif
      60             : #if AP_RPM_SIM_ENABLED
      61             :         RPM_TYPE_SITL   = 10,
      62             : #endif
      63             :     };
      64             : 
      65             :     // The RPM_State structure is filled in by the backend driver
      66             :     struct RPM_State {
      67             :         uint8_t                instance;        // the instance number of this RPM
      68             :         float                  rate_rpm;        // measured rate in revs per minute
      69             :         uint32_t               last_reading_ms; // time of last reading
      70             :         float                  signal_quality;  // synthetic quality metric 
      71             :     };
      72             : 
      73             :     // parameters for each instance
      74             :     AP_RPM_Params _params[RPM_MAX_INSTANCES];
      75             : 
      76             :     static const struct AP_Param::GroupInfo var_info[];
      77             : 
      78             :     // Return the number of rpm sensor instances
      79         117 :     uint8_t num_sensors(void) const {
      80         117 :         return num_instances;
      81             :     }
      82             : 
      83             :     // detect and initialise any available rpm sensors
      84             :     void init(void);
      85             : 
      86             :     // update state of all rpm sensors. Should be called from main loop
      87             :     void update(void);
      88             : 
      89             :     /*
      90             :       return RPM for a sensor. Return -1 if not healthy
      91             :      */
      92             :     bool get_rpm(uint8_t instance, float &rpm_value) const;
      93             : 
      94             :     /*
      95             :       return signal quality for a sensor.
      96             :      */
      97      484590 :     float get_signal_quality(uint8_t instance) const {
      98      484590 :         return state[instance].signal_quality;
      99             :     }
     100             : 
     101             :     bool healthy(uint8_t instance) const;
     102             : 
     103             :     bool enabled(uint8_t instance) const;
     104             : 
     105     4934925 :     static AP_RPM *get_singleton() { return _singleton; }
     106             : 
     107             :     // check settings are valid
     108             :     bool arming_checks(size_t buflen, char *buffer) const;
     109             : 
     110             : #if AP_RPM_STREAM_ENABLED
     111             :     // Return the sensor id to use for streaming over DroneCAN, negative number disables
     112             :     int8_t get_dronecan_sensor_id(uint8_t instance) const;
     113             : #endif
     114             : 
     115             : private:
     116             :     static AP_RPM *_singleton;
     117             : 
     118             :     RPM_State state[RPM_MAX_INSTANCES];
     119             :     AP_RPM_Backend *drivers[RPM_MAX_INSTANCES];
     120             :     uint8_t num_instances;
     121             : 
     122             :     void Log_RPM() const;
     123             : };
     124             : 
     125             : namespace AP {
     126             :     AP_RPM *rpm();
     127             : };
     128             : 
     129             : #endif  // AP_RPM_ENABLED