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AP_Baro: update header references

This commit is contained in:
Andrew Tridgell 2023-04-08 13:55:39 +10:00
parent 5188816274
commit 55b1e6d5d0
4 changed files with 2 additions and 231 deletions
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2
libraries/AP_Baro/AP_Baro.cpp
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@ -43,7 +43,7 @@
#include "AP_Baro_DPS280.h"
#include "AP_Baro_BMP388.h"
#include "AP_Baro_Dummy.h"
#include "AP_Baro_UAVCAN.h"
#include "AP_Baro_DroneCAN.h"
#include "AP_Baro_MSP.h"
#include "AP_Baro_ExternalAHRS.h"
#include "AP_Baro_ICP101XX.h"

2
libraries/AP_Baro/AP_Baro_DroneCAN.cpp
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@ -1,4 +1,4 @@
#include "AP_Baro_UAVCAN.h"
#include "AP_Baro_DroneCAN.h"
#if AP_BARO_UAVCAN_ENABLED

177
libraries/AP_Baro/AP_Baro_UAVCAN.cpp
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@ -1,177 +0,0 @@
#include "AP_Baro_UAVCAN.h"
#if AP_BARO_UAVCAN_ENABLED
#include <AP_CANManager/AP_CANManager.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "AP_Baro_SITL.h"
#include <AP_Vehicle/AP_Vehicle_Type.h>
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;
/*
constructor - registers instance at top Baro driver
*/
AP_Baro_UAVCAN::AP_Baro_UAVCAN(AP_Baro &baro) :
AP_Baro_Backend(baro)
{}
void AP_Baro_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_dronecan == nullptr) {
return;
}
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_pressure, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("pressure_sub");
}
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_temperature, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("temperature_sub");
}
}
AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
{
WITH_SEMAPHORE(_sem_registry);
AP_Baro_UAVCAN* 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);
if (backend == nullptr) {
AP::can().log_text(AP_CANManager::LOG_ERROR,
LOG_TAG,
"Failed register UAVCAN Baro 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;
backend->_pressure = 0;
backend->_pressure_count = 0;
backend->_ap_dronecan = _detected_modules[i].ap_dronecan;
backend->_node_id = _detected_modules[i].node_id;
backend->_instance = backend->_frontend.register_sensor();
backend->set_bus_id(backend->_instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
_detected_modules[i].ap_dronecan->get_driver_index(),
backend->_node_id, 0));
AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG,
"Registered UAVCAN Baro Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_dronecan->get_driver_index());
}
break;
}
}
return backend;
}
AP_Baro_UAVCAN* AP_Baro_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new)
{
if (ap_dronecan == nullptr) {
return nullptr;
}
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; 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;
}
}
if (create_new) {
bool already_detected = false;
//Check if there's an empty spot for possible registeration
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) {
//Already Detected
already_detected = true;
break;
}
}
if (!already_detected) {
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; 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_Baro_UAVCAN::_update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count)
{
*accum += val;
*count += 1;
if (*count == max_count) {
*count = max_count / 2;
*accum = *accum / 2;
}
}
void AP_Baro_UAVCAN::handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg)
{
AP_Baro_UAVCAN* driver;
{
WITH_SEMAPHORE(_sem_registry);
driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, true);
if (driver == nullptr) {
return;
}
}
{
WITH_SEMAPHORE(driver->_sem_baro);
_update_and_wrap_accumulator(&driver->_pressure, msg.static_pressure, &driver->_pressure_count, 32);
driver->new_pressure = true;
}
}
void AP_Baro_UAVCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg)
{
AP_Baro_UAVCAN* driver;
{
WITH_SEMAPHORE(_sem_registry);
driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, false);
if (driver == nullptr) {
return;
}
}
{
WITH_SEMAPHORE(driver->_sem_baro);
driver->_temperature = KELVIN_TO_C(msg.static_temperature);
}
}
// Read the sensor
void AP_Baro_UAVCAN::update(void)
{
float pressure = 0;
WITH_SEMAPHORE(_sem_baro);
if (new_pressure) {
if (_pressure_count != 0) {
pressure = _pressure / _pressure_count;
_pressure_count = 0;
_pressure = 0;
}
_copy_to_frontend(_instance, pressure, _temperature);
_frontend.set_external_temperature(_temperature);
new_pressure = false;
}
}
#endif // AP_BARO_UAVCAN_ENABLED

52
libraries/AP_Baro/AP_Baro_UAVCAN.h
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@ -1,52 +0,0 @@
#pragma once
#include "AP_Baro_Backend.h"
#if AP_BARO_UAVCAN_ENABLED
#include <AP_DroneCAN/AP_DroneCAN.h>
#if AP_TEST_DRONECAN_DRIVERS
#include <SITL/SITL.h>
#endif
class AP_Baro_UAVCAN : public AP_Baro_Backend {
public:
AP_Baro_UAVCAN(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_Backend* probe(AP_Baro &baro);
static void handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg);
static void handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg);
#if AP_TEST_DRONECAN_DRIVERS
void update_healthy_flag(uint8_t instance) override { _frontend.sensors[instance].healthy = !AP::sitl()->baro[instance].disable; };
#endif
private:
static void _update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count);
uint8_t _instance;
bool new_pressure;
float _pressure;
float _temperature;
uint8_t _pressure_count;
HAL_Semaphore _sem_baro;
AP_DroneCAN* _ap_dronecan;
uint8_t _node_id;
// Module Detection Registry
static struct DetectedModules {
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
AP_Baro_UAVCAN* driver;
} _detected_modules[BARO_MAX_DRIVERS];
static HAL_Semaphore _sem_registry;
};
#endif // AP_BARO_UAVCAN_ENABLED