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AP_Baro: added device IDs for barometers

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this allows us to tell what barometers were detected in logs
This commit is contained in:
Andrew Tridgell 2020-07-18 17:12:41 +10:00 committed by Randy Mackay
parent 3f4a14c610
commit 978a7d2859
16 changed files with 95 additions and 5 deletions
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30
libraries/AP_Baro/AP_Baro.cpp
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@ -172,6 +172,31 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
AP_GROUPINFO("PROBE_EXT", 14, AP_Baro, _baro_probe_ext, HAL_BARO_PROBE_EXT_DEFAULT),
#endif
// @Param: BARO_ID
// @DisplayName: Baro ID
// @Description: Barometer sensor ID, taking into account its type, bus and instance
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("BARO_ID", 15, AP_Baro, sensors[0].bus_id, 0),
#if BARO_MAX_INSTANCES > 1
// @Param: BARO2_ID
// @DisplayName: Baro ID2
// @Description: Barometer2 sensor ID, taking into account its type, bus and instance
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("BARO2_ID", 16, AP_Baro, sensors[1].bus_id, 0),
#endif
#if BARO_MAX_INSTANCES > 2
// @Param: BARO3_ID
// @DisplayName: Baro ID3
// @Description: Barometer3 sensor ID, taking into account its type, bus and instance
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("BARO3_ID", 17, AP_Baro, sensors[2].bus_id, 0),
#endif
AP_GROUPEND
};
@ -474,6 +499,11 @@ void AP_Baro::init(void)
_user_ground_temperature.notify();
}
// zero bus IDs before probing
for (uint8_t i = 0; i < BARO_MAX_INSTANCES; i++) {
sensors[i].bus_id.set(0);
}
if (_hil_mode) {
drivers[0] = new AP_Baro_HIL(*this);
_num_drivers = 1;

1
libraries/AP_Baro/AP_Baro.h
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@ -230,6 +230,7 @@ private:
bool healthy; // true if sensor is healthy
bool alt_ok; // true if calculated altitude is ok
bool calibrated; // true if calculated calibrated successfully
AP_Int32 bus_id;
} sensors[BARO_MAX_INSTANCES];
AP_Float _alt_offset;

3
libraries/AP_Baro/AP_Baro_BMP085.cpp
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@ -137,6 +137,9 @@ bool AP_Baro_BMP085::_init()
_instance = _frontend.register_sensor();
_dev->set_device_type(DEVTYPE_BARO_BMP085);
set_bus_id(_instance, _dev->get_bus_id());
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP085::_timer, void));
return true;
}

3
libraries/AP_Baro/AP_Baro_BMP280.cpp
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@ -115,6 +115,9 @@ bool AP_Baro_BMP280::_init()
_instance = _frontend.register_sensor();
_dev->set_device_type(DEVTYPE_BARO_BMP280);
set_bus_id(_instance, _dev->get_bus_id());
// request 50Hz update
_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP280::_timer, void));

3
libraries/AP_Baro/AP_Baro_BMP388.cpp
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@ -108,6 +108,9 @@ bool AP_Baro_BMP388::init()
instance = _frontend.register_sensor();
dev->set_device_type(DEVTYPE_BARO_BMP388);
set_bus_id(instance, dev->get_bus_id());
// request 50Hz update
dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP388::timer, void));

27
libraries/AP_Baro/AP_Baro_Backend.h
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@ -23,6 +23,28 @@ public:
// If the value further that filtrer_range from mean value, it is rejected.
bool pressure_ok(float press);
uint32_t get_error_count() const { return _error_count; }
/*
device driver IDs. These are used to fill in the devtype field
of the device ID, which shows up as GND_BARO_ID* parameters to
users.
*/
enum DevTypes {
DEVTYPE_BARO_SITL = 0x01,
DEVTYPE_BARO_BMP085 = 0x02,
DEVTYPE_BARO_BMP280 = 0x03,
DEVTYPE_BARO_BMP388 = 0x04,
DEVTYPE_BARO_DPS280 = 0x05,
DEVTYPE_BARO_DPS310 = 0x06,
DEVTYPE_BARO_FBM320 = 0x07,
DEVTYPE_BARO_ICM20789 = 0x08,
DEVTYPE_BARO_KELLERLD = 0x09,
DEVTYPE_BARO_LPS2XH = 0x0A,
DEVTYPE_BARO_MS5611 = 0x0B,
DEVTYPE_BARO_SPL06 = 0x0C,
DEVTYPE_BARO_UAVCAN = 0x0D,
};
protected:
// reference to frontend object
AP_Baro &_frontend;
@ -38,4 +60,9 @@ protected:
float _mean_pressure;
// number of dropped samples. Not used for now, but can be usable to choose more reliable sensor
uint32_t _error_count;
// set bus ID of this instance, for GND_BARO_ID parameters
void set_bus_id(uint8_t instance, uint32_t id) {
_frontend.sensors[instance].bus_id.set(int32_t(id));
}
};

3
libraries/AP_Baro/AP_Baro_DPS280.cpp
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@ -163,6 +163,9 @@ bool AP_Baro_DPS280::init()
instance = _frontend.register_sensor();
dev->set_device_type(DEVTYPE_BARO_DPS280);
set_bus_id(instance, dev->get_bus_id());
dev->get_semaphore()->give();
// request 64Hz update. New data will be available at 32Hz

3
libraries/AP_Baro/AP_Baro_FBM320.cpp
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@ -125,6 +125,9 @@ bool AP_Baro_FBM320::init()
instance = _frontend.register_sensor();
dev->set_device_type(DEVTYPE_BARO_FBM320);
set_bus_id(instance, dev->get_bus_id());
dev->get_semaphore()->give();
// request 50Hz update

3
libraries/AP_Baro/AP_Baro_ICM20789.cpp
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@ -206,6 +206,9 @@ bool AP_Baro_ICM20789::init()
instance = _frontend.register_sensor();
dev->set_device_type(DEVTYPE_BARO_ICM20789);
set_bus_id(instance, dev->get_bus_id());
dev->get_semaphore()->give();
debug("ICM20789: startup OK\n");

3
libraries/AP_Baro/AP_Baro_KellerLD.cpp
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@ -142,6 +142,9 @@ bool AP_Baro_KellerLD::_init()
_instance = _frontend.register_sensor();
_dev->set_device_type(DEVTYPE_BARO_KELLERLD);
set_bus_id(_instance, _dev->get_bus_id());
_frontend.set_type(_instance, AP_Baro::BARO_TYPE_WATER);
// lower retries for run

3
libraries/AP_Baro/AP_Baro_LPS2XH.cpp
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@ -179,6 +179,9 @@ bool AP_Baro_LPS2XH::_init()
_instance = _frontend.register_sensor();
_dev->set_device_type(DEVTYPE_BARO_LPS2XH);
set_bus_id(_instance, _dev->get_bus_id());
_dev->get_semaphore()->give();
_dev->register_periodic_callback(CallTime, FUNCTOR_BIND_MEMBER(&AP_Baro_LPS2XH::_timer, void));

3
libraries/AP_Baro/AP_Baro_MS5611.cpp
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@ -134,6 +134,9 @@ bool AP_Baro_MS56XX::_init()
_instance = _frontend.register_sensor();
_dev->set_device_type(DEVTYPE_BARO_MS5611);
set_bus_id(_instance, _dev->get_bus_id());
if (_ms56xx_type == BARO_MS5837) {
_frontend.set_type(_instance, AP_Baro::BARO_TYPE_WATER);
}

1
libraries/AP_Baro/AP_Baro_SITL.cpp
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@ -20,6 +20,7 @@ AP_Baro_SITL::AP_Baro_SITL(AP_Baro &baro) :
#if APM_BUILD_TYPE(APM_BUILD_ArduSub)
_frontend.set_type(_instance, AP_Baro::BARO_TYPE_WATER);
#endif
set_bus_id(_instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SITL, 0, _instance, DEVTYPE_BARO_SITL));
hal.scheduler->register_timer_process(FUNCTOR_BIND(this, &AP_Baro_SITL::_timer, void));
}
}

3
libraries/AP_Baro/AP_Baro_SPL06.cpp
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@ -140,6 +140,9 @@ bool AP_Baro_SPL06::_init()
_instance = _frontend.register_sensor();
_dev->set_device_type(DEVTYPE_BARO_SPL06);
set_bus_id(_instance, _dev->get_bus_id());
// request 50Hz update
_timer_counter = -1;
_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void));

7
libraries/AP_Baro/AP_Baro_UAVCAN.cpp
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@ -75,7 +75,12 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
backend->_pressure_count = 0;
backend->_ap_uavcan = _detected_modules[i].ap_uavcan;
backend->_node_id = _detected_modules[i].node_id;
backend->register_sensor();
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_uavcan->get_driver_index(),
backend->_node_id, 0));
debug_baro_uavcan(2,
_detected_modules[i].ap_uavcan->get_driver_index(),
"Registered UAVCAN Baro Node %d on Bus %d\n",

4
libraries/AP_Baro/AP_Baro_UAVCAN.h
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@ -13,10 +13,6 @@ public:
void update() override;
inline void register_sensor() {
_instance = _frontend.register_sensor();
}
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_Baro_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, bool create_new);
static AP_Baro_Backend* probe(AP_Baro &baro);