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AP_Periph: added enable mechanisms for all sensor types

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This commit is contained in:
Andrew Tridgell 2020-01-25 10:59:01 +11:00
parent 2fa6f534ab
commit 1734541eb7
4 changed files with 38 additions and 9 deletions
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22
Tools/AP_Periph/AP_Periph.cpp
View File

@ -94,11 +94,15 @@ void AP_Periph_FW::init()
}
#ifdef HAL_PERIPH_ENABLE_GPS
gps.init(serial_manager);
if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE) {
gps.init(serial_manager);
}
#endif
#ifdef HAL_PERIPH_ENABLE_MAG
compass.init();
if (compass.enabled()) {
compass.init();
}
#endif
#ifdef HAL_PERIPH_ENABLE_BARO
@ -115,14 +119,18 @@ void AP_Periph_FW::init()
#endif
#ifdef HAL_PERIPH_ENABLE_AIRSPEED
airspeed.init();
if (airspeed.enabled()) {
airspeed.init();
}
#endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
const uint8_t sernum = 3; // uartB
hal.uartB->begin(g.rangefinder_baud);
serial_manager.set_protocol_and_baud(sernum, AP_SerialManager::SerialProtocol_Rangefinder, g.rangefinder_baud);
rangefinder.init(ROTATION_NONE);
if (rangefinder.get_type(0) != RangeFinder::Type::NONE) {
const uint8_t sernum = 3; // uartB
hal.uartB->begin(g.rangefinder_baud);
serial_manager.set_protocol_and_baud(sernum, AP_SerialManager::SerialProtocol_Rangefinder, g.rangefinder_baud);
rangefinder.init(ROTATION_NONE);
}
#endif
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT

6
Tools/AP_Periph/Parameters.cpp
View File

@ -6,6 +6,10 @@ extern const AP_HAL::HAL &hal;
#define AP_PERIPH_LED_BRIGHT_DEFAULT 100
#endif
#ifndef HAL_PERIPH_ADSB_BAUD_DEFAULT
#define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600
#endif
/*
* AP_Periph parameter definitions
*
@ -83,7 +87,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
#endif
#ifdef HAL_PERIPH_ENABLE_ADSB
GSCALAR(adsb_baudrate, "ADSB_BAUDRATE", 57600),
GSCALAR(adsb_baudrate, "ADSB_BAUDRATE", HAL_PERIPH_ADSB_BAUD_DEFAULT),
#endif
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT

7
Tools/AP_Periph/adsb.cpp
View File

@ -31,7 +31,9 @@ extern const AP_HAL::HAL &hal;
*/
void AP_Periph_FW::adsb_init(void)
{
ADSB_PORT->begin(AP_SerialManager::map_baudrate(g.adsb_baudrate), 256, 256);
if (g.adsb_baudrate > 0) {
ADSB_PORT->begin(AP_SerialManager::map_baudrate(g.adsb_baudrate), 256, 256);
}
}
@ -40,6 +42,9 @@ void AP_Periph_FW::adsb_init(void)
*/
void AP_Periph_FW::adsb_update(void)
{
if (g.adsb_baudrate <= 0) {
return;
}
// look for incoming MAVLink ADSB_VEHICLE packets
const uint16_t nbytes = ADSB_PORT->available();
for (uint16_t i=0; i<nbytes; i++) {

12
Tools/AP_Periph/can.cpp
View File

@ -1139,6 +1139,9 @@ void AP_Periph_FW::can_update()
void AP_Periph_FW::can_mag_update(void)
{
#ifdef HAL_PERIPH_ENABLE_MAG
if (!compass.enabled()) {
return;
}
compass.read();
#if CAN_PROBE_CONTINUOUS
if (compass.get_count() == 0) {
@ -1184,6 +1187,9 @@ void AP_Periph_FW::can_mag_update(void)
void AP_Periph_FW::can_gps_update(void)
{
#ifdef HAL_PERIPH_ENABLE_GPS
if (gps.get_type(0) == AP_GPS::GPS_Type::GPS_TYPE_NONE) {
return;
}
gps.update();
if (last_gps_update_ms == gps.last_message_time_ms()) {
return;
@ -1450,6 +1456,9 @@ void AP_Periph_FW::can_baro_update(void)
void AP_Periph_FW::can_airspeed_update(void)
{
#ifdef HAL_PERIPH_ENABLE_AIRSPEED
if (!airspeed.enabled()) {
return;
}
#if CAN_PROBE_CONTINUOUS
if (!airspeed.healthy()) {
uint32_t now = AP_HAL::millis();
@ -1511,6 +1520,9 @@ void AP_Periph_FW::can_airspeed_update(void)
void AP_Periph_FW::can_rangefinder_update(void)
{
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
if (rangefinder.get_type(0) == RangeFinder::Type::NONE) {
return;
}
if (rangefinder.num_sensors() == 0) {
uint32_t now = AP_HAL::millis();
static uint32_t last_probe_ms;