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AP_EFI: allow EFI to be used in AP_Periph

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This commit is contained in:
Andrew Tridgell 2022-06-03 20:59:46 +10:00
parent 25d231187f
commit 0fad35112f
5 changed files with 25 additions and 6 deletions
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13
libraries/AP_EFI/AP_EFI.cpp
View File

@ -86,7 +86,7 @@ void AP_EFI::init(void)
#endif
break;
default:
gcs().send_text(MAV_SEVERITY_INFO, "Unknown EFI type");
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unknown EFI type");
break;
}
}
@ -96,7 +96,9 @@ void AP_EFI::update()
{
if (backend) {
backend->update();
#if HAL_LOGGING_ENABLED
log_status();
#endif
}
}
@ -105,6 +107,7 @@ bool AP_EFI::is_healthy(void) const
return (backend && (AP_HAL::millis() - state.last_updated_ms) < HEALTHY_LAST_RECEIVED_MS);
}
#if HAL_LOGGING_ENABLED
/*
write status to log
*/
@ -208,6 +211,7 @@ void AP_EFI::log_status(void)
state.ecu_index);
}
}
#endif // LOGGING_ENABLED
/*
send EFI_STATUS
@ -240,6 +244,13 @@ void AP_EFI::send_mavlink_status(mavlink_channel_t chan)
);
}
// get a copy of state structure
void AP_EFI::get_state(EFI_State &_state)
{
WITH_SEMAPHORE(sem);
_state = state;
}
namespace AP {
AP_EFI *EFI()
{

11
libraries/AP_EFI/AP_EFI.h
View File

@ -64,6 +64,14 @@ public:
bool is_healthy() const;
// return timestamp of last update
uint32_t get_last_update_ms(void) const {
return state.last_updated_ms;
}
// get a copy of state structure
void get_state(EFI_State &state);
// Parameter info
static const struct AP_Param::GroupInfo var_info[];
@ -99,6 +107,9 @@ private:
AP_EFI_Backend *backend;
static AP_EFI *singleton;
// Semaphore for access to shared frontend data
HAL_Semaphore sem;
// write to log
void log_status();
};

2
libraries/AP_EFI/AP_EFI_Backend.cpp
View File

@ -28,7 +28,7 @@ AP_EFI_Backend::AP_EFI_Backend(AP_EFI &_frontend) :
void AP_EFI_Backend::copy_to_frontend()
{
WITH_SEMAPHORE(sem);
WITH_SEMAPHORE(frontend.sem);
frontend.state = internal_state;
}

3
libraries/AP_EFI/AP_EFI_Backend.h
View File

@ -35,9 +35,6 @@ protected:
// Copies internal state to the frontend state
void copy_to_frontend();
// Semaphore for access to shared frontend data
HAL_Semaphore sem;
// Internal state for this driver (before copying to frontend)
EFI_State internal_state;

2
libraries/AP_EFI/AP_EFI_NWPMU.cpp
View File

@ -36,7 +36,7 @@ void AP_EFI_NWPMU::handle_frame(AP_HAL::CANFrame &frame)
{
const uint32_t id = frame.id & AP_HAL::CANFrame::MaskExtID;
WITH_SEMAPHORE(sem);
WITH_SEMAPHORE(frontend.sem);
switch ((NWPMU_ID)id) {
case NWPMU_ID::ECU_1: {