ardupilot/libraries/AP_Baro/AP_Baro_UAVCAN.cpp

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#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN
#include "AP_Baro_UAVCAN.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
extern const AP_HAL::HAL& hal;
#define debug_baro_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)
/*
constructor - registers instance at top Baro driver
*/
AP_Baro_UAVCAN::AP_Baro_UAVCAN(AP_Baro &baro) :
AP_Baro_Backend(baro)
{
_sem_baro = hal.util->new_semaphore();
}
AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
{
if (_initialized) {
if (hal.can_mgr[_manager] != nullptr) {
AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
if (ap_uavcan != nullptr) {
ap_uavcan->remove_baro_listener(this);
debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
}
}
}
}
AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
{
AP_Baro_UAVCAN *sensor = nullptr;
if (AP_BoardConfig_CAN::get_can_num_ifaces() != 0) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] != nullptr) {
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan != nullptr) {
uint8_t freebaro = uavcan->find_smallest_free_baro_node();
if (freebaro != UINT8_MAX) {
sensor = new AP_Baro_UAVCAN(baro);
if (sensor->register_uavcan_baro(i, freebaro)) {
debug_baro_uavcan(2, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
return sensor;
} else {
delete sensor;
sensor = nullptr;
}
}
}
}
}
}
return sensor;
}
// Read the sensor
void AP_Baro_UAVCAN::update(void)
{
if (_sem_baro->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_copy_to_frontend(_instance, _pressure, _temperature);
_frontend.set_external_temperature(_temperature);
_sem_baro->give();
}
}
void AP_Baro_UAVCAN::handle_baro_msg(float pressure, float temperature)
{
if (_sem_baro->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_pressure = pressure;
_temperature = temperature - 273.15f;
_last_timestamp = AP_HAL::micros64();
_sem_baro->give();
}
}
bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node)
{
if (hal.can_mgr[mgr] != nullptr) {
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
if (ap_uavcan != nullptr) {
_manager = mgr;
if (ap_uavcan->register_baro_listener_to_node(this, node))
{
_instance = _frontend.register_sensor();
debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");
_initialized = true;
return true;
}
}
}
return false;
}
#endif // HAL_WITH_UAVCAN