diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp index 715a5261ca..3b67e92bb2 100644 --- a/libraries/AP_Airspeed/AP_Airspeed.cpp +++ b/libraries/AP_Airspeed/AP_Airspeed.cpp @@ -45,7 +45,7 @@ #include "AP_Airspeed_analog.h" #include "AP_Airspeed_ASP5033.h" #include "AP_Airspeed_Backend.h" -#include "AP_Airspeed_UAVCAN.h" +#include "AP_Airspeed_DroneCAN.h" #include "AP_Airspeed_NMEA.h" #include "AP_Airspeed_MSP.h" #include "AP_Airspeed_SITL.h" diff --git a/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp b/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp index 93fd090cfc..a015eb5c1a 100644 --- a/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp +++ b/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp @@ -1,4 +1,4 @@ -#include "AP_Airspeed_UAVCAN.h" +#include "AP_Airspeed_DroneCAN.h" #if AP_AIRSPEED_UAVCAN_ENABLED diff --git a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp deleted file mode 100644 index 93fd090cfc..0000000000 --- a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp +++ /dev/null @@ -1,197 +0,0 @@ -#include "AP_Airspeed_UAVCAN.h" - -#if AP_AIRSPEED_UAVCAN_ENABLED - -#include -#include -#include - -extern const AP_HAL::HAL& hal; - -#define LOG_TAG "AirSpeed" - -AP_Airspeed_UAVCAN::DetectedModules AP_Airspeed_UAVCAN::_detected_modules[]; -HAL_Semaphore AP_Airspeed_UAVCAN::_sem_registry; - -// constructor -AP_Airspeed_UAVCAN::AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance) : - AP_Airspeed_Backend(_frontend, _instance) -{} - -void AP_Airspeed_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan) -{ - if (ap_dronecan == nullptr) { - return; - } - - if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_airspeed, ap_dronecan->get_driver_index()) == nullptr) { - AP_BoardConfig::allocation_error("airspeed_sub"); - } - -#if AP_AIRSPEED_HYGROMETER_ENABLE - if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_hygrometer, ap_dronecan->get_driver_index()) == nullptr) { - AP_BoardConfig::allocation_error("hygrometer_sub"); - } -#endif -} - -AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid) -{ - WITH_SEMAPHORE(_sem_registry); - - AP_Airspeed_UAVCAN* backend = nullptr; - - for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) { - if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) { - const auto bus_id = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN, - _detected_modules[i].ap_dronecan->get_driver_index(), - _detected_modules[i].node_id, 0); - if (previous_devid != 0 && previous_devid != bus_id) { - // match with previous ID only - continue; - } - backend = new AP_Airspeed_UAVCAN(_frontend, _instance); - if (backend == nullptr) { - AP::can().log_text(AP_CANManager::LOG_INFO, - LOG_TAG, - "Failed register UAVCAN Airspeed Node %d on Bus %d\n", - _detected_modules[i].node_id, - _detected_modules[i].ap_dronecan->get_driver_index()); - } else { - _detected_modules[i].driver = backend; - AP::can().log_text(AP_CANManager::LOG_INFO, - LOG_TAG, - "Registered UAVCAN Airspeed Node %d on Bus %d\n", - _detected_modules[i].node_id, - _detected_modules[i].ap_dronecan->get_driver_index()); - backend->set_bus_id(bus_id); - } - break; - } - } - - return backend; -} - -AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id) -{ - if (ap_dronecan == nullptr) { - return nullptr; - } - - for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) { - if (_detected_modules[i].driver != nullptr && - _detected_modules[i].ap_dronecan == ap_dronecan && - _detected_modules[i].node_id == node_id ) { - return _detected_modules[i].driver; - } - } - - bool detected = false; - for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) { - if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) { - // detected - detected = true; - break; - } - } - - if (!detected) { - for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) { - if (_detected_modules[i].ap_dronecan == nullptr) { - _detected_modules[i].ap_dronecan = ap_dronecan; - _detected_modules[i].node_id = node_id; - break; - } - } - } - - return nullptr; -} - -void AP_Airspeed_UAVCAN::handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg) -{ - WITH_SEMAPHORE(_sem_registry); - - AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id); - - if (driver != nullptr) { - WITH_SEMAPHORE(driver->_sem_airspeed); - driver->_pressure = msg.differential_pressure; - if (!isnan(msg.static_air_temperature) && - msg.static_air_temperature > 0) { - driver->_temperature = KELVIN_TO_C(msg.static_air_temperature); - driver->_have_temperature = true; - } - driver->_last_sample_time_ms = AP_HAL::millis(); - } -} - -#if AP_AIRSPEED_HYGROMETER_ENABLE -void AP_Airspeed_UAVCAN::handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg) -{ - WITH_SEMAPHORE(_sem_registry); - - AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id); - - if (driver != nullptr) { - WITH_SEMAPHORE(driver->_sem_airspeed); - driver->_hygrometer.temperature = KELVIN_TO_C(msg.temperature); - driver->_hygrometer.humidity = msg.humidity; - driver->_hygrometer.last_sample_ms = AP_HAL::millis(); - } -} -#endif // AP_AIRSPEED_HYGROMETER_ENABLE - -bool AP_Airspeed_UAVCAN::init() -{ - // always returns true - return true; -} - -bool AP_Airspeed_UAVCAN::get_differential_pressure(float &pressure) -{ - WITH_SEMAPHORE(_sem_airspeed); - - if ((AP_HAL::millis() - _last_sample_time_ms) > 100) { - return false; - } - - pressure = _pressure; - - return true; -} - -bool AP_Airspeed_UAVCAN::get_temperature(float &temperature) -{ - if (!_have_temperature) { - return false; - } - WITH_SEMAPHORE(_sem_airspeed); - - if ((AP_HAL::millis() - _last_sample_time_ms) > 100) { - return false; - } - - temperature = _temperature; - - return true; -} - -#if AP_AIRSPEED_HYGROMETER_ENABLE -/* - return hygrometer data if available - */ -bool AP_Airspeed_UAVCAN::get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) -{ - if (_hygrometer.last_sample_ms == 0) { - return false; - } - WITH_SEMAPHORE(_sem_airspeed); - last_sample_ms = _hygrometer.last_sample_ms; - temperature = _hygrometer.temperature; - humidity = _hygrometer.humidity; - return true; -} -#endif // AP_AIRSPEED_HYGROMETER_ENABLE -#endif // AP_AIRSPEED_UAVCAN_ENABLED diff --git a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h deleted file mode 100644 index 3ccbdd7127..0000000000 --- a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h +++ /dev/null @@ -1,68 +0,0 @@ -#pragma once - -#include - -#ifndef AP_AIRSPEED_UAVCAN_ENABLED -#define AP_AIRSPEED_UAVCAN_ENABLED HAL_ENABLE_LIBUAVCAN_DRIVERS -#endif - -#if AP_AIRSPEED_UAVCAN_ENABLED - -#include "AP_Airspeed_Backend.h" - -#include - -class AP_Airspeed_UAVCAN : public AP_Airspeed_Backend { -public: - AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance); - - bool init(void) override; - - // return the current differential_pressure in Pascal - bool get_differential_pressure(float &pressure) override; - - // temperature not available via analog backend - bool get_temperature(float &temperature) override; - -#if AP_AIRSPEED_HYGROMETER_ENABLE - // get hygrometer data - bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) override; -#endif - - static void subscribe_msgs(AP_DroneCAN* ap_dronecan); - - static AP_Airspeed_Backend* probe(AP_Airspeed &_fronted, uint8_t _instance, uint32_t previous_devid); - -private: - - static void handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg); - static void handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg); - - static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id); - - float _pressure; // Pascal - float _temperature; // Celcius - uint32_t _last_sample_time_ms; - - // hygrometer data - struct { - float temperature; - float humidity; - uint32_t last_sample_ms; - } _hygrometer; - - HAL_Semaphore _sem_airspeed; - - // Module Detection Registry - static struct DetectedModules { - AP_DroneCAN* ap_dronecan; - uint8_t node_id; - AP_Airspeed_UAVCAN *driver; - } _detected_modules[AIRSPEED_MAX_SENSORS]; - - static HAL_Semaphore _sem_registry; - bool _have_temperature; -}; - - -#endif // AP_AIRSPEED_UAVCAN_ENABLED