mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.8 KiB
C++
81 lines
2.8 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_TemperatureSensor_config.h"
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#if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
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#include "AP_TemperatureSensor_DroneCAN.h"
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_Math/AP_Math.h>
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AP_TemperatureSensor_DroneCAN* AP_TemperatureSensor_DroneCAN::_drivers[];
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uint8_t AP_TemperatureSensor_DroneCAN::_driver_instance;
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HAL_Semaphore AP_TemperatureSensor_DroneCAN::_driver_sem;
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extern const AP_HAL::HAL &hal;
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const AP_Param::GroupInfo AP_TemperatureSensor_DroneCAN::var_info[] = {
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// @Param: MSG_ID
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// @DisplayName: Temperature sensor DroneCAN message ID
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// @Description: Sets the message device ID this backend listens for
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// @Range: 0 65535
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AP_GROUPINFO("MSG_ID", 1, AP_TemperatureSensor_DroneCAN, _ID, 0),
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AP_GROUPEND
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};
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AP_TemperatureSensor_DroneCAN::AP_TemperatureSensor_DroneCAN(AP_TemperatureSensor &front,
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AP_TemperatureSensor::TemperatureSensor_State &state,
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AP_TemperatureSensor_Params ¶ms) :
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AP_TemperatureSensor_Backend(front, state, params)
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{
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AP_Param::setup_object_defaults(this, var_info);
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_state.var_info = var_info;
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// Register self in static driver list
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WITH_SEMAPHORE(_driver_sem);
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_drivers[_driver_instance] = this;
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_driver_instance++;
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}
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// Subscript to incoming temperature messages
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void AP_TemperatureSensor_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
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{
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if (ap_dronecan == nullptr) {
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return;
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}
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if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_temperature, ap_dronecan->get_driver_index()) == nullptr) {
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AP_BoardConfig::allocation_error("temp_sub");
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}
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}
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void AP_TemperatureSensor_DroneCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_device_Temperature &msg)
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{
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WITH_SEMAPHORE(_driver_sem);
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for (uint8_t i = 0; i < _driver_instance; i++) {
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if ((_drivers[i] != nullptr) && (_drivers[i]->_ID.get() == msg.device_id)) {
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// Driver loaded and looking for this ID, set temp
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_drivers[i]->set_temperature(KELVIN_TO_C(msg.temperature));
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}
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}
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}
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#endif // AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
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