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AP_Airspeed: rename more variables, types and defines

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This commit is contained in:
Andrew Tridgell 2023-04-08 14:09:10 +10:00
parent b322a7a1fe
commit 6912b0db9e
3 changed files with 23 additions and 23 deletions
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4
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -416,7 +416,7 @@ void AP_Airspeed::allocate()
break;
case TYPE_UAVCAN:
#if AP_AIRSPEED_DRONECAN_ENABLED
sensor[i] = AP_Airspeed_UAVCAN::probe(*this, i, uint32_t(param[i].bus_id.get()));
sensor[i] = AP_Airspeed_DroneCAN::probe(*this, i, uint32_t(param[i].bus_id.get()));
#endif
break;
case TYPE_NMEA_WATER:
@ -447,7 +447,7 @@ void AP_Airspeed::allocate()
// the 2nd pass accepts any devid
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
if (sensor[i] == nullptr && (enum airspeed_type)param[i].type.get() == TYPE_UAVCAN) {
sensor[i] = AP_Airspeed_UAVCAN::probe(*this, i, 0);
sensor[i] = AP_Airspeed_DroneCAN::probe(*this, i, 0);
if (sensor[i] != nullptr) {
num_sensors = i+1;
}

32
libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp
View File

@ -10,15 +10,15 @@ 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;
AP_Airspeed_DroneCAN::DetectedModules AP_Airspeed_DroneCAN::_detected_modules[];
HAL_Semaphore AP_Airspeed_DroneCAN::_sem_registry;
// constructor
AP_Airspeed_UAVCAN::AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance) :
AP_Airspeed_DroneCAN::AP_Airspeed_DroneCAN(AP_Airspeed &_frontend, uint8_t _instance) :
AP_Airspeed_Backend(_frontend, _instance)
{}
void AP_Airspeed_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
void AP_Airspeed_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_dronecan == nullptr) {
return;
@ -35,11 +35,11 @@ void AP_Airspeed_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
#endif
}
AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid)
AP_Airspeed_Backend* AP_Airspeed_DroneCAN::probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid)
{
WITH_SEMAPHORE(_sem_registry);
AP_Airspeed_UAVCAN* backend = nullptr;
AP_Airspeed_DroneCAN* backend = nullptr;
for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) {
@ -50,7 +50,7 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _
// match with previous ID only
continue;
}
backend = new AP_Airspeed_UAVCAN(_frontend, _instance);
backend = new AP_Airspeed_DroneCAN(_frontend, _instance);
if (backend == nullptr) {
AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG,
@ -73,7 +73,7 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _
return backend;
}
AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
AP_Airspeed_DroneCAN* AP_Airspeed_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
{
if (ap_dronecan == nullptr) {
return nullptr;
@ -109,11 +109,11 @@ AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_drone
return nullptr;
}
void AP_Airspeed_UAVCAN::handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg)
void AP_Airspeed_DroneCAN::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);
AP_Airspeed_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
WITH_SEMAPHORE(driver->_sem_airspeed);
@ -128,11 +128,11 @@ void AP_Airspeed_UAVCAN::handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardR
}
#if AP_AIRSPEED_HYGROMETER_ENABLE
void AP_Airspeed_UAVCAN::handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg)
void AP_Airspeed_DroneCAN::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);
AP_Airspeed_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
WITH_SEMAPHORE(driver->_sem_airspeed);
@ -143,13 +143,13 @@ void AP_Airspeed_UAVCAN::handle_hygrometer(AP_DroneCAN *ap_dronecan, const Canar
}
#endif // AP_AIRSPEED_HYGROMETER_ENABLE
bool AP_Airspeed_UAVCAN::init()
bool AP_Airspeed_DroneCAN::init()
{
// always returns true
return true;
}
bool AP_Airspeed_UAVCAN::get_differential_pressure(float &pressure)
bool AP_Airspeed_DroneCAN::get_differential_pressure(float &pressure)
{
WITH_SEMAPHORE(_sem_airspeed);
@ -162,7 +162,7 @@ bool AP_Airspeed_UAVCAN::get_differential_pressure(float &pressure)
return true;
}
bool AP_Airspeed_UAVCAN::get_temperature(float &temperature)
bool AP_Airspeed_DroneCAN::get_temperature(float &temperature)
{
if (!_have_temperature) {
return false;
@ -182,7 +182,7 @@ bool AP_Airspeed_UAVCAN::get_temperature(float &temperature)
/*
return hygrometer data if available
*/
bool AP_Airspeed_UAVCAN::get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity)
bool AP_Airspeed_DroneCAN::get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity)
{
if (_hygrometer.last_sample_ms == 0) {
return false;

10
libraries/AP_Airspeed/AP_Airspeed_DroneCAN.h
View File

@ -3,7 +3,7 @@
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_AIRSPEED_DRONECAN_ENABLED
#define AP_AIRSPEED_DRONECAN_ENABLED HAL_ENABLE_LIBUAVCAN_DRIVERS
#define AP_AIRSPEED_DRONECAN_ENABLED HAL_ENABLE_DRONECAN_DRIVERS
#endif
#if AP_AIRSPEED_DRONECAN_ENABLED
@ -12,9 +12,9 @@
#include <AP_DroneCAN/AP_DroneCAN.h>
class AP_Airspeed_UAVCAN : public AP_Airspeed_Backend {
class AP_Airspeed_DroneCAN : public AP_Airspeed_Backend {
public:
AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance);
AP_Airspeed_DroneCAN(AP_Airspeed &_frontend, uint8_t _instance);
bool init(void) override;
@ -38,7 +38,7 @@ 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);
static AP_Airspeed_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
float _pressure; // Pascal
float _temperature; // Celcius
@ -57,7 +57,7 @@ private:
static struct DetectedModules {
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
AP_Airspeed_UAVCAN *driver;
AP_Airspeed_DroneCAN *driver;
} _detected_modules[AIRSPEED_MAX_SENSORS];
static HAL_Semaphore _sem_registry;