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AP_UAVCAN: remove UAVCAN sensors related code

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Siddharth Purohit 2018-07-18 14:56:48 +05:30 committed by Francisco Ferreira
parent f01cc254d3
commit 0125b2cdd2
2 changed files with 36 additions and 1060 deletions
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962
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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134
libraries/AP_UAVCAN/AP_UAVCAN.h
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@ -1,6 +1,18 @@
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Author: Eugene Shamaev
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Author: Eugene Shamaev, Siddharth Bharat Purohit
*/
#ifndef AP_UAVCAN_H_
#define AP_UAVCAN_H_
@ -9,14 +21,8 @@
#include <AP_HAL/CAN.h>
#include <AP_HAL/Semaphores.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Param/AP_Param.h>
#include <AP_GPS/GPS_Backend.h>
#include <AP_Baro/AP_Baro_Backend.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_BattMonitor/AP_BattMonitor_Backend.h>
#include <uavcan/helpers/heap_based_pool_allocator.hpp>
#ifndef UAVCAN_NODE_POOL_SIZE
@ -31,12 +37,6 @@
#define UAVCAN_SRV_NUMBER 18
#endif
#define AP_UAVCAN_MAX_LISTENERS 4
#define AP_UAVCAN_MAX_GPS_NODES 4
#define AP_UAVCAN_MAX_MAG_NODES 4
#define AP_UAVCAN_MAX_BARO_NODES 4
#define AP_UAVCAN_MAX_BI_NUMBER 4
#define AP_UAVCAN_SW_VERS_MAJOR 1
#define AP_UAVCAN_SW_VERS_MINOR 0
@ -79,75 +79,6 @@ public:
///// LED /////
bool led_write(uint8_t led_index, uint8_t red, uint8_t green, uint8_t blue);
///// GPS /////
uint8_t find_gps_without_listener(void);
// this function will register the listening class on a first free channel or on the specified channel
// if preferred_channel = 0 then free channel will be searched for
// if preferred_channel > 0 then listener will be added to specific channel
// return value is the number of assigned channel or 0 if fault
// channel numbering starts from 1
uint8_t register_gps_listener(AP_GPS_Backend* new_listener, uint8_t preferred_channel);
uint8_t register_gps_listener_to_node(AP_GPS_Backend* new_listener, uint8_t node);
// Removes specified listener from all nodes
void remove_gps_listener(AP_GPS_Backend* rem_listener);
// Returns pointer to GPS state connected with specified node.
// If node is not found and there are free space, locate a new one
AP_GPS::GPS_State *find_gps_node(uint8_t node);
// Updates all listeners of specified node
void update_gps_state(uint8_t node);
///// BARO /////
struct Baro_Info {
float pressure;
float pressure_variance;
float temperature;
float temperature_variance;
};
uint8_t find_smallest_free_baro_node();
uint8_t register_baro_listener(AP_Baro_Backend* new_listener, uint8_t preferred_channel);
uint8_t register_baro_listener_to_node(AP_Baro_Backend* new_listener, uint8_t node);
void remove_baro_listener(AP_Baro_Backend* rem_listener);
Baro_Info *find_baro_node(uint8_t node);
void update_baro_state(uint8_t node);
///// COMPASS /////
struct Mag_Info {
Vector3f mag_vector;
};
uint8_t find_smallest_free_mag_node();
uint8_t register_mag_listener(AP_Compass_Backend* new_listener, uint8_t preferred_channel);
uint8_t register_mag_listener_to_node(AP_Compass_Backend* new_listener, uint8_t node);
void remove_mag_listener(AP_Compass_Backend* rem_listener);
Mag_Info *find_mag_node(uint8_t node, uint8_t sensor_id);
void update_mag_state(uint8_t node, uint8_t sensor_id);
///// BATTERY /////
struct BatteryInfo_Info {
float temperature;
float voltage;
float current;
float remaining_capacity_wh;
float full_charge_capacity_wh;
uint8_t status_flags;
};
uint8_t find_smallest_free_bi_id();
uint8_t register_BM_bi_listener_to_id(AP_BattMonitor_Backend* new_listener, uint8_t id);
void remove_BM_bi_listener(AP_BattMonitor_Backend* rem_listener);
BatteryInfo_Info *find_bi_id(uint8_t id);
void update_bi_state(uint8_t id);
template <typename DataType_>
class RegistryBinder {
@ -255,45 +186,6 @@ private:
} _led_conf;
AP_HAL::Semaphore *_led_out_sem;
///// GPS /////
// 255 - means free node
uint8_t _gps_nodes[AP_UAVCAN_MAX_GPS_NODES];
// Counter of how many listeners are connected to this source
uint8_t _gps_node_taken[AP_UAVCAN_MAX_GPS_NODES];
// GPS data of the sources
AP_GPS::GPS_State _gps_node_state[AP_UAVCAN_MAX_GPS_NODES];
// 255 - means no connection
uint8_t _gps_listener_to_node[AP_UAVCAN_MAX_LISTENERS];
// Listeners with callbacks to be updated
AP_GPS_Backend* _gps_listeners[AP_UAVCAN_MAX_LISTENERS];
///// BARO /////
uint8_t _baro_nodes[AP_UAVCAN_MAX_BARO_NODES];
uint8_t _baro_node_taken[AP_UAVCAN_MAX_BARO_NODES];
Baro_Info _baro_node_state[AP_UAVCAN_MAX_BARO_NODES];
uint8_t _baro_listener_to_node[AP_UAVCAN_MAX_LISTENERS];
AP_Baro_Backend* _baro_listeners[AP_UAVCAN_MAX_LISTENERS];
///// COMPASS /////
uint8_t _mag_nodes[AP_UAVCAN_MAX_MAG_NODES];
uint8_t _mag_node_taken[AP_UAVCAN_MAX_MAG_NODES];
Mag_Info _mag_node_state[AP_UAVCAN_MAX_MAG_NODES];
uint8_t _mag_node_max_sensorid_count[AP_UAVCAN_MAX_MAG_NODES];
uint8_t _mag_listener_to_node[AP_UAVCAN_MAX_LISTENERS];
AP_Compass_Backend* _mag_listeners[AP_UAVCAN_MAX_LISTENERS];
uint8_t _mag_listener_sensor_ids[AP_UAVCAN_MAX_LISTENERS];
///// BATTERY /////
uint16_t _bi_id[AP_UAVCAN_MAX_BI_NUMBER];
uint16_t _bi_id_taken[AP_UAVCAN_MAX_BI_NUMBER];
BatteryInfo_Info _bi_id_state[AP_UAVCAN_MAX_BI_NUMBER];
uint16_t _bi_BM_listener_to_id[AP_UAVCAN_MAX_LISTENERS];
AP_BattMonitor_Backend* _bi_BM_listeners[AP_UAVCAN_MAX_LISTENERS];
};
#endif /* AP_UAVCAN_H_ */