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100 lines
3.8 KiB
C++
100 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef ESC_INFO_HPP
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#define ESC_INFO_HPP
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#include <uORB/topics/esc_status.h>
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class MavlinkStreamESCInfo : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamESCInfo(mavlink); }
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static constexpr const char *get_name_static() { return "ESC_INFO"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ESC_INFO; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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static constexpr unsigned size_per_batch = MAVLINK_MSG_ID_ESC_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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return _esc_status_sub.advertised() ? size_per_batch * _number_of_batches : 0;
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}
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private:
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explicit MavlinkStreamESCInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
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uint8_t _number_of_batches{0};
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bool send() override
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{
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static constexpr uint8_t batch_size = MAVLINK_MSG_ESC_INFO_FIELD_TEMPERATURE_LEN;
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esc_status_s esc_status;
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if (_esc_status_sub.update(&esc_status)) {
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mavlink_esc_info_t msg{};
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msg.time_usec = esc_status.timestamp;
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msg.counter = esc_status.counter;
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msg.count = esc_status.esc_count;
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msg.connection_type = esc_status.esc_connectiontype;
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msg.info = esc_status.esc_online_flags;
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// Ceil value of integer division. For 1-4 esc => 1 batch, 5-8 esc => 2 batches etc
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_number_of_batches = ceilf((float)esc_status.esc_count / batch_size);
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for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) {
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msg.index = batch_number * batch_size;
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for (int esc_index = 0; esc_index < batch_size ; esc_index++) {
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msg.failure_flags[esc_index] = esc_status.esc[esc_index].failures;
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msg.error_count[esc_index] = esc_status.esc[esc_index].esc_errorcount;
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msg.temperature[esc_index] = static_cast<int16_t>(esc_status.esc[esc_index].esc_temperature *
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100.f); // convert to centiDegrees
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}
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mavlink_msg_esc_info_send_struct(_mavlink->get_channel(), &msg);
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}
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return true;
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}
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return false;
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}
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};
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#endif // ESC_INFO_HPP
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