mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.9 KiB
C++
89 lines
2.9 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_RPM_config.h"
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#if AP_RPM_DRONECAN_ENABLED
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#include "RPM_DroneCAN.h"
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#include <AP_BoardConfig/AP_BoardConfig.h>
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AP_RPM_DroneCAN* AP_RPM_DroneCAN::_drivers[];
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uint8_t AP_RPM_DroneCAN::_driver_instance;
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HAL_Semaphore AP_RPM_DroneCAN::_driver_sem;
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AP_RPM_DroneCAN::AP_RPM_DroneCAN(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state) :
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AP_RPM_Backend(_ap_rpm, instance, _state)
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{
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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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// Subscribe to incoming rpm messages
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void AP_RPM_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_rpm, ap_dronecan->get_driver_index()) == nullptr) {
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AP_BoardConfig::allocation_error("rpm_sub");
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}
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}
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// Receive new CAN message
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void AP_RPM_DroneCAN::handle_rpm(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_rpm_RPM &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) {
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continue;
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}
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// Find params for this instance
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const uint8_t instance = _drivers[i]->state.instance;
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const AP_RPM_Params& params = _drivers[i]->ap_rpm._params[instance];
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if (params.dronecan_sensor_id == msg.sensor_id) {
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// Driver loaded and looking for this ID, add reading
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_drivers[i]->last_reading_ms = AP_HAL::millis();
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_drivers[i]->rpm = msg.rpm * params.scaling;
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const bool heathy = (msg.flags & DRONECAN_SENSORS_RPM_RPM_FLAGS_UNHEALTHY) == 0;
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_drivers[i]->signal_quality = heathy ? 0.5 : 0.0;
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}
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}
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}
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void AP_RPM_DroneCAN::update(void)
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{
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WITH_SEMAPHORE(_driver_sem);
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// Update state from temporay variables
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state.last_reading_ms = last_reading_ms;
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state.signal_quality = signal_quality;
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state.rate_rpm = rpm;
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// assume we get readings at at least 1Hz, otherwise reset quality to zero
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if ((AP_HAL::millis() - state.last_reading_ms) > 1000) {
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state.signal_quality = 0;
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state.rate_rpm = 0;
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}
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}
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#endif // AP_RPM_DRONECAN_ENABLED
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