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             : 
      16             : #include "AP_Torqeedo.h"
      17             : 
      18             : #if HAL_TORQEEDO_ENABLED
      19             : 
      20             : #include <AP_Common/AP_Common.h>
      21             : #include <AP_Math/AP_Math.h>
      22             : #include <GCS_MAVLink/GCS.h>
      23             : #include "AP_Torqeedo_Backend.h"
      24             : #include "AP_Torqeedo_TQBus.h"
      25             : 
      26             : extern const AP_HAL::HAL& hal;
      27             : 
      28             : const AP_Param::GroupInfo AP_Torqeedo::var_info[] = {
      29             : 
      30             :     // 1 to 7 were used for parameters before frontend/backend split
      31             : 
      32             :     // @Group: 1_
      33             :     // @Path: AP_Torqeedo_Params.cpp
      34             :     AP_SUBGROUPINFO(_params[0], "1_", 8, AP_Torqeedo, AP_Torqeedo_Params),
      35             : 
      36             : #if AP_TORQEEDO_MAX_INSTANCES > 1
      37             :     // @Group: 2_
      38             :     // @Path: AP_Torqeedo_Params.cpp
      39             :     AP_SUBGROUPINFO(_params[1], "2_", 9, AP_Torqeedo, AP_Torqeedo_Params),
      40             : #endif
      41             : 
      42             :     AP_GROUPEND
      43             : };
      44             : 
      45         855 : AP_Torqeedo::AP_Torqeedo()
      46             : {
      47         285 :     _singleton = this;
      48         285 :     AP_Param::setup_object_defaults(this, var_info);
      49         285 : }
      50             : 
      51             : // initialise driver
      52         283 : void AP_Torqeedo::init()
      53             : {
      54             :     // check init has not been called before
      55         566 :     for (uint8_t i = 1; i < AP_TORQEEDO_MAX_INSTANCES; i++) {
      56         283 :         if (get_instance(i) != nullptr) {
      57           0 :             return;
      58             :         }
      59             :     }
      60             : 
      61             :     // create each instance
      62             :     uint8_t instance;
      63         849 :     for (instance = 0; instance < AP_TORQEEDO_MAX_INSTANCES; instance++) {
      64         566 :         switch ((ConnectionType)_params[instance].type.get()) {
      65         566 :         case ConnectionType::TYPE_DISABLED:
      66             :             // do nothing
      67         566 :             break;
      68           0 :         case ConnectionType::TYPE_TILLER:
      69             :         case ConnectionType::TYPE_MOTOR:
      70           0 :             _backends[instance] = NEW_NOTHROW AP_Torqeedo_TQBus(_params[instance], instance);
      71           0 :             break;
      72             :         }
      73             :     }
      74             : 
      75             :     // init each instance, do it after all instances were created, so that they all know things
      76         849 :     for (instance = 0; instance < AP_TORQEEDO_MAX_INSTANCES; instance++) {
      77         566 :         if (_backends[instance] != nullptr) {
      78           0 :             _backends[instance]->init();
      79             :         }
      80             :     }
      81             : }
      82             : 
      83             : // returns true if at least one backend has been configured (e.g. TYPE param has been set)
      84       15226 : bool AP_Torqeedo::enabled() const
      85             : {
      86       45678 :     for (uint8_t instance = 0; instance < AP_TORQEEDO_MAX_INSTANCES; instance++) {
      87       30452 :         if (enabled(instance)) {
      88           0 :             return true;
      89             :         }
      90             :     }
      91       15226 :     return false;
      92             : }
      93             : 
      94             : // returns true if the instance has been configured (e.g. TYPE param has been set)
      95       30452 : bool AP_Torqeedo::enabled(uint8_t instance) const
      96             : {
      97       30452 :     if (instance < AP_TORQEEDO_MAX_INSTANCES) {
      98       30452 :         switch ((ConnectionType)_params[instance].type.get()) {
      99       30452 :         case ConnectionType::TYPE_DISABLED:
     100       30452 :             return false;
     101           0 :         case ConnectionType::TYPE_TILLER:
     102             :         case ConnectionType::TYPE_MOTOR:
     103           0 :             return true;
     104             :         }
     105             :     }
     106           0 :     return false;
     107             : }
     108             : 
     109             : // returns true if all backends are communicating with the motor
     110           0 : bool AP_Torqeedo::healthy()
     111             : {
     112           0 :     uint8_t num_backends = 0;
     113           0 :     uint8_t num_healthy = 0;
     114           0 :     for (uint8_t instance = 0; instance < AP_TORQEEDO_MAX_INSTANCES; instance++) {
     115           0 :         auto *backend = get_instance(instance);
     116           0 :         if (backend != nullptr) {
     117           0 :             num_backends++;
     118           0 :             if (backend->healthy()) {
     119           0 :                 num_healthy++;
     120             :             }
     121             :         }
     122             :     }
     123             : 
     124           0 :     return ((num_backends > 0) && (num_healthy == num_backends));
     125             : }
     126             : 
     127             : // returns true if instance is healthy
     128           0 : bool AP_Torqeedo::healthy(uint8_t instance)
     129             : {
     130           0 :     auto *backend = get_instance(instance);
     131           0 :     if (backend == nullptr) {
     132           0 :         return false;
     133             :     }
     134           0 :     return backend->healthy();
     135             : }
     136             : 
     137             : // run pre-arm check.  returns false on failure and fills in failure_msg
     138             : // any failure_msg returned will not include a prefix
     139       15226 : bool AP_Torqeedo::pre_arm_checks(char *failure_msg, uint8_t failure_msg_len)
     140             : {
     141             :     // exit immediately if not enabled
     142       15226 :     if (!enabled()) {
     143       15226 :         return true;
     144             :     }
     145             : 
     146           0 :     if (!healthy()) {
     147           0 :         strncpy(failure_msg, "not healthy", failure_msg_len);
     148           0 :         return false;
     149             :     }
     150           0 :     return true;
     151             : }
     152             : 
     153             : // clear motor errors
     154           0 : void AP_Torqeedo::clear_motor_error()
     155             : {
     156           0 :     for (uint8_t instance = 0; instance < AP_TORQEEDO_MAX_INSTANCES; instance++) {
     157           0 :         auto *backend = get_instance(instance);
     158           0 :         if (backend != nullptr) {
     159           0 :             backend->clear_motor_error();
     160             :         }
     161             :     }
     162           0 : }
     163             : 
     164             : // get latest battery status info.  returns true on success and populates arguments
     165             : // instance is normally 0 or 1, if invalid instances are provided the first instance is used
     166           0 : bool AP_Torqeedo::get_batt_info(uint8_t instance, float &voltage, float &current_amps, float &temp_C, uint8_t &pct_remaining) const
     167             : {
     168             :     // for invalid instances use the first instance
     169           0 :     if (instance > AP_TORQEEDO_MAX_INSTANCES-1) {
     170           0 :         instance = 0;
     171             :     }
     172             : 
     173             :     // return battery info for specified instance
     174           0 :     auto *backend = get_instance(instance);
     175           0 :     if (backend != nullptr) {
     176           0 :         return backend->get_batt_info(voltage, current_amps, temp_C, pct_remaining);
     177             :     }
     178           0 :     return false;
     179             : }
     180             : 
     181             : // get battery capacity.  returns true on success and populates argument
     182             : // instance is normally 0 or 1, if invalid instances are provided the first instance is used
     183           0 : bool AP_Torqeedo::get_batt_capacity_Ah(uint8_t instance, uint16_t &amp_hours) const
     184             : {
     185             :     // for invalid instances use the first instance
     186           0 :     if (instance > AP_TORQEEDO_MAX_INSTANCES-1) {
     187           0 :         instance = 0;
     188             :     }
     189             : 
     190             :     // return battery capacity from specified instance
     191           0 :     auto *backend = get_instance(instance);
     192           0 :     if (backend != nullptr) {
     193           0 :         return backend->get_batt_capacity_Ah(amp_hours);
     194             :     }
     195           0 :     return false;
     196             : }
     197             : 
     198             : // return pointer to backend given an instance number
     199         283 : AP_Torqeedo_Backend *AP_Torqeedo::get_instance(uint8_t instance) const
     200             : {
     201         283 :     if (instance < AP_TORQEEDO_MAX_INSTANCES) {
     202         283 :         return _backends[instance];
     203             :     }
     204           0 :     return nullptr;
     205             : }
     206             : 
     207             : // get the AP_Torqeedo singleton
     208       15226 : AP_Torqeedo *AP_Torqeedo::get_singleton()
     209             : {
     210       15226 :     return _singleton;
     211             : }
     212             : 
     213             : AP_Torqeedo *AP_Torqeedo::_singleton = nullptr;
     214             : 
     215             : namespace AP {
     216             : 
     217           0 : AP_Torqeedo *torqeedo()
     218             : {
     219           0 :     return AP_Torqeedo::get_singleton();
     220             : }
     221             : }
     222             : 
     223             : #endif // HAL_TORQEEDO_ENABLED