ardupilot/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp

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#include "AP_Airspeed_UAVCAN.h"
#if AP_AIRSPEED_UAVCAN_ENABLED
#include <AP_CANManager/AP_CANManager.h>
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#include <AP_UAVCAN/AP_UAVCAN.h>
#include <uavcan/equipment/air_data/RawAirData.hpp>
#if AP_AIRSPEED_HYGROMETER_ENABLE
#include <dronecan/sensors/hygrometer/Hygrometer.hpp>
#endif
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extern const AP_HAL::HAL& hal;
#define LOG_TAG "AirSpeed"
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// Frontend Registry Binders
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UC_REGISTRY_BINDER(AirspeedCb, uavcan::equipment::air_data::RawAirData);
#if AP_AIRSPEED_HYGROMETER_ENABLE
UC_REGISTRY_BINDER(HygrometerCb, dronecan::sensors::hygrometer::Hygrometer);
#endif
AP_Airspeed_UAVCAN::DetectedModules AP_Airspeed_UAVCAN::_detected_modules[];
HAL_Semaphore AP_Airspeed_UAVCAN::_sem_registry;
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// constructor
AP_Airspeed_UAVCAN::AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance) :
AP_Airspeed_Backend(_frontend, _instance)
{}
void AP_Airspeed_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
{
if (ap_uavcan == nullptr) {
return;
}
auto* node = ap_uavcan->get_node();
uavcan::Subscriber<uavcan::equipment::air_data::RawAirData, AirspeedCb> *airspeed_listener;
airspeed_listener = new uavcan::Subscriber<uavcan::equipment::air_data::RawAirData, AirspeedCb>(*node);
const int airspeed_listener_res = airspeed_listener->start(AirspeedCb(ap_uavcan, &handle_airspeed));
if (airspeed_listener_res < 0) {
AP_HAL::panic("DroneCAN Airspeed subscriber error \n");
}
#if AP_AIRSPEED_HYGROMETER_ENABLE
uavcan::Subscriber<dronecan::sensors::hygrometer::Hygrometer, HygrometerCb> *hygrometer_listener;
hygrometer_listener = new uavcan::Subscriber<dronecan::sensors::hygrometer::Hygrometer, HygrometerCb>(*node);
const int hygrometer_listener_res = hygrometer_listener->start(HygrometerCb(ap_uavcan, &handle_hygrometer));
if (hygrometer_listener_res < 0) {
AP_HAL::panic("DroneCAN Hygrometer subscriber error\n");
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}
#endif
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}
AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid)
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{
WITH_SEMAPHORE(_sem_registry);
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AP_Airspeed_UAVCAN* backend = nullptr;
for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) {
const auto bus_id = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
_detected_modules[i].ap_uavcan->get_driver_index(),
_detected_modules[i].node_id, 0);
if (previous_devid != 0 && previous_devid != bus_id) {
// match with previous ID only
continue;
}
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backend = new AP_Airspeed_UAVCAN(_frontend, _instance);
if (backend == nullptr) {
AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG,
"Failed register UAVCAN Airspeed Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_uavcan->get_driver_index());
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} else {
_detected_modules[i].driver = backend;
AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG,
"Registered UAVCAN Airspeed Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_uavcan->get_driver_index());
backend->set_bus_id(bus_id);
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}
break;
}
}
return backend;
}
AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id)
{
if (ap_uavcan == nullptr) {
return nullptr;
}
for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
if (_detected_modules[i].driver != nullptr &&
_detected_modules[i].ap_uavcan == ap_uavcan &&
_detected_modules[i].node_id == node_id ) {
return _detected_modules[i].driver;
}
}
bool detected = false;
for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
if (_detected_modules[i].ap_uavcan == ap_uavcan && _detected_modules[i].node_id == node_id) {
// detected
detected = true;
break;
}
}
if (!detected) {
for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
if (_detected_modules[i].ap_uavcan == nullptr) {
_detected_modules[i].ap_uavcan = ap_uavcan;
_detected_modules[i].node_id = node_id;
break;
}
}
}
return nullptr;
}
void AP_Airspeed_UAVCAN::handle_airspeed(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AirspeedCb &cb)
{
WITH_SEMAPHORE(_sem_registry);
AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id);
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if (driver != nullptr) {
WITH_SEMAPHORE(driver->_sem_airspeed);
driver->_pressure = cb.msg->differential_pressure;
if (!isnan(cb.msg->static_air_temperature) &&
cb.msg->static_air_temperature > 0) {
driver->_temperature = KELVIN_TO_C(cb.msg->static_air_temperature);
driver->_have_temperature = true;
}
driver->_last_sample_time_ms = AP_HAL::millis();
}
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}
#if AP_AIRSPEED_HYGROMETER_ENABLE
void AP_Airspeed_UAVCAN::handle_hygrometer(AP_UAVCAN* ap_uavcan, uint8_t node_id, const HygrometerCb &cb)
{
WITH_SEMAPHORE(_sem_registry);
AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id);
if (driver != nullptr) {
WITH_SEMAPHORE(driver->_sem_airspeed);
driver->_hygrometer.temperature = KELVIN_TO_C(cb.msg->temperature);
driver->_hygrometer.humidity = cb.msg->humidity;
driver->_hygrometer.last_sample_ms = AP_HAL::millis();
}
}
#endif // AP_AIRSPEED_HYGROMETER_ENABLE
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bool AP_Airspeed_UAVCAN::init()
{
// always returns true
return true;
}
bool AP_Airspeed_UAVCAN::get_differential_pressure(float &pressure)
{
WITH_SEMAPHORE(_sem_airspeed);
if ((AP_HAL::millis() - _last_sample_time_ms) > 250) {
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return false;
}
pressure = _pressure;
return true;
}
bool AP_Airspeed_UAVCAN::get_temperature(float &temperature)
{
if (!_have_temperature) {
return false;
}
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WITH_SEMAPHORE(_sem_airspeed);
if ((AP_HAL::millis() - _last_sample_time_ms) > 100) {
return false;
}
temperature = _temperature;
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return true;
}
#if AP_AIRSPEED_HYGROMETER_ENABLE
/*
return hygrometer data if available
*/
bool AP_Airspeed_UAVCAN::get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity)
{
if (_hygrometer.last_sample_ms == 0) {
return false;
}
WITH_SEMAPHORE(_sem_airspeed);
last_sample_ms = _hygrometer.last_sample_ms;
temperature = _hygrometer.temperature;
humidity = _hygrometer.humidity;
return true;
}
#endif // AP_AIRSPEED_HYGROMETER_ENABLE
#endif // AP_AIRSPEED_UAVCAN_ENABLED