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AP_Baro: rename more variables, types and defines

This commit is contained in:
Andrew Tridgell 2023-04-08 14:09:10 +10:00
parent 116e456d35
commit 0e1927fc35
5 changed files with 21 additions and 21 deletions
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2
libraries/AP_Baro/AP_Baro.cpp
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@ -616,7 +616,7 @@ void AP_Baro::init(void)
#if AP_BARO_DRONECAN_ENABLED
// Detect UAVCAN Modules, try as many times as there are driver slots
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
ADD_BACKEND(AP_Baro_UAVCAN::probe(*this));
ADD_BACKEND(AP_Baro_DroneCAN::probe(*this));
}
#endif

2
libraries/AP_Baro/AP_Baro.h
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@ -28,7 +28,7 @@ class AP_Baro
{
friend class AP_Baro_Backend;
friend class AP_Baro_SITL; // for access to sensors[]
friend class AP_Baro_UAVCAN; // for access to sensors[]
friend class AP_Baro_DroneCAN; // for access to sensors[]
public:
AP_Baro();

28
libraries/AP_Baro/AP_Baro_DroneCAN.cpp
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@ -11,17 +11,17 @@ extern const AP_HAL::HAL& hal;
#define LOG_TAG "Baro"
AP_Baro_UAVCAN::DetectedModules AP_Baro_UAVCAN::_detected_modules[];
HAL_Semaphore AP_Baro_UAVCAN::_sem_registry;
AP_Baro_DroneCAN::DetectedModules AP_Baro_DroneCAN::_detected_modules[];
HAL_Semaphore AP_Baro_DroneCAN::_sem_registry;
/*
constructor - registers instance at top Baro driver
*/
AP_Baro_UAVCAN::AP_Baro_UAVCAN(AP_Baro &baro) :
AP_Baro_DroneCAN::AP_Baro_DroneCAN(AP_Baro &baro) :
AP_Baro_Backend(baro)
{}
void AP_Baro_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
void AP_Baro_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_dronecan == nullptr) {
return;
@ -35,14 +35,14 @@ void AP_Baro_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
}
}
AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
AP_Baro_Backend* AP_Baro_DroneCAN::probe(AP_Baro &baro)
{
WITH_SEMAPHORE(_sem_registry);
AP_Baro_UAVCAN* backend = nullptr;
AP_Baro_DroneCAN* backend = nullptr;
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) {
backend = new AP_Baro_UAVCAN(baro);
backend = new AP_Baro_DroneCAN(baro);
if (backend == nullptr) {
AP::can().log_text(AP_CANManager::LOG_ERROR,
LOG_TAG,
@ -73,7 +73,7 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
return backend;
}
AP_Baro_UAVCAN* AP_Baro_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new)
AP_Baro_DroneCAN* AP_Baro_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new)
{
if (ap_dronecan == nullptr) {
return nullptr;
@ -111,7 +111,7 @@ AP_Baro_UAVCAN* AP_Baro_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uin
}
void AP_Baro_UAVCAN::_update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count)
void AP_Baro_DroneCAN::_update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count)
{
*accum += val;
*count += 1;
@ -121,9 +121,9 @@ void AP_Baro_UAVCAN::_update_and_wrap_accumulator(float *accum, float val, uint8
}
}
void AP_Baro_UAVCAN::handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg)
void AP_Baro_DroneCAN::handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg)
{
AP_Baro_UAVCAN* driver;
AP_Baro_DroneCAN* driver;
{
WITH_SEMAPHORE(_sem_registry);
driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, true);
@ -138,9 +138,9 @@ void AP_Baro_UAVCAN::handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTra
}
}
void AP_Baro_UAVCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg)
void AP_Baro_DroneCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg)
{
AP_Baro_UAVCAN* driver;
AP_Baro_DroneCAN* driver;
{
WITH_SEMAPHORE(_sem_registry);
driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, false);
@ -155,7 +155,7 @@ void AP_Baro_UAVCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRx
}
// Read the sensor
void AP_Baro_UAVCAN::update(void)
void AP_Baro_DroneCAN::update(void)
{
float pressure = 0;

8
libraries/AP_Baro/AP_Baro_DroneCAN.h
View File

@ -9,14 +9,14 @@
#include <SITL/SITL.h>
#endif
class AP_Baro_UAVCAN : public AP_Baro_Backend {
class AP_Baro_DroneCAN : public AP_Baro_Backend {
public:
AP_Baro_UAVCAN(AP_Baro &baro);
AP_Baro_DroneCAN(AP_Baro &baro);
void update() override;
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static AP_Baro_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new);
static AP_Baro_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new);
static AP_Baro_Backend* probe(AP_Baro &baro);
static void handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg);
@ -43,7 +43,7 @@ private:
static struct DetectedModules {
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
AP_Baro_UAVCAN* driver;
AP_Baro_DroneCAN* driver;
} _detected_modules[BARO_MAX_DRIVERS];
static HAL_Semaphore _sem_registry;

2
libraries/AP_Baro/AP_Baro_config.h
View File

@ -78,5 +78,5 @@
#endif
#ifndef AP_BARO_DRONECAN_ENABLED
#define AP_BARO_DRONECAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
#define AP_BARO_DRONECAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
#endif