mirror of https://github.com/ArduPilot/ardupilot
AP_Airspeed: rename UAVCAN drivers to DroneCAN
This commit is contained in:
Andrew Tridgell
parent
9371e60431
commit
a3d0f265b2
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#include "AP_Airspeed_UAVCAN.h"
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#if AP_AIRSPEED_UAVCAN_ENABLED
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#include <AP_CANManager/AP_CANManager.h>
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#include <AP_DroneCAN/AP_DroneCAN.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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extern const AP_HAL::HAL& hal;
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#define LOG_TAG "AirSpeed"
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AP_Airspeed_UAVCAN::DetectedModules AP_Airspeed_UAVCAN::_detected_modules[];
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HAL_Semaphore AP_Airspeed_UAVCAN::_sem_registry;
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// constructor
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AP_Airspeed_UAVCAN::AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance) :
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AP_Airspeed_Backend(_frontend, _instance)
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{}
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void AP_Airspeed_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
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{
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if (ap_dronecan == nullptr) {
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return;
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}
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if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_airspeed, ap_dronecan->get_driver_index()) == nullptr) {
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AP_BoardConfig::allocation_error("airspeed_sub");
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}
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#if AP_AIRSPEED_HYGROMETER_ENABLE
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if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_hygrometer, ap_dronecan->get_driver_index()) == nullptr) {
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AP_BoardConfig::allocation_error("hygrometer_sub");
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}
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#endif
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}
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AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid)
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{
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WITH_SEMAPHORE(_sem_registry);
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AP_Airspeed_UAVCAN* backend = nullptr;
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for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
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if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) {
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const auto bus_id = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
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_detected_modules[i].ap_dronecan->get_driver_index(),
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_detected_modules[i].node_id, 0);
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if (previous_devid != 0 && previous_devid != bus_id) {
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// match with previous ID only
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continue;
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}
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backend = new AP_Airspeed_UAVCAN(_frontend, _instance);
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if (backend == nullptr) {
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AP::can().log_text(AP_CANManager::LOG_INFO,
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LOG_TAG,
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"Failed register UAVCAN Airspeed Node %d on Bus %d\n",
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_detected_modules[i].node_id,
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_detected_modules[i].ap_dronecan->get_driver_index());
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} else {
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_detected_modules[i].driver = backend;
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AP::can().log_text(AP_CANManager::LOG_INFO,
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LOG_TAG,
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"Registered UAVCAN Airspeed Node %d on Bus %d\n",
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_detected_modules[i].node_id,
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_detected_modules[i].ap_dronecan->get_driver_index());
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backend->set_bus_id(bus_id);
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}
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break;
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}
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}
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return backend;
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}
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AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
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{
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if (ap_dronecan == nullptr) {
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return nullptr;
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}
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for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
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if (_detected_modules[i].driver != nullptr &&
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_detected_modules[i].ap_dronecan == ap_dronecan &&
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_detected_modules[i].node_id == node_id ) {
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return _detected_modules[i].driver;
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}
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}
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bool detected = false;
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for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
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if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) {
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// detected
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detected = true;
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break;
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}
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}
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if (!detected) {
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for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
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if (_detected_modules[i].ap_dronecan == nullptr) {
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_detected_modules[i].ap_dronecan = ap_dronecan;
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_detected_modules[i].node_id = node_id;
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break;
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}
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}
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}
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return nullptr;
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}
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void AP_Airspeed_UAVCAN::handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg)
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{
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WITH_SEMAPHORE(_sem_registry);
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AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
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if (driver != nullptr) {
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WITH_SEMAPHORE(driver->_sem_airspeed);
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driver->_pressure = msg.differential_pressure;
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if (!isnan(msg.static_air_temperature) &&
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msg.static_air_temperature > 0) {
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driver->_temperature = KELVIN_TO_C(msg.static_air_temperature);
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driver->_have_temperature = true;
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}
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driver->_last_sample_time_ms = AP_HAL::millis();
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}
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}
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#if AP_AIRSPEED_HYGROMETER_ENABLE
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void AP_Airspeed_UAVCAN::handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg)
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{
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WITH_SEMAPHORE(_sem_registry);
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AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
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if (driver != nullptr) {
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WITH_SEMAPHORE(driver->_sem_airspeed);
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driver->_hygrometer.temperature = KELVIN_TO_C(msg.temperature);
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driver->_hygrometer.humidity = msg.humidity;
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driver->_hygrometer.last_sample_ms = AP_HAL::millis();
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}
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}
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#endif // AP_AIRSPEED_HYGROMETER_ENABLE
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bool AP_Airspeed_UAVCAN::init()
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{
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// always returns true
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return true;
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}
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bool AP_Airspeed_UAVCAN::get_differential_pressure(float &pressure)
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{
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WITH_SEMAPHORE(_sem_airspeed);
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if ((AP_HAL::millis() - _last_sample_time_ms) > 100) {
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return false;
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}
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pressure = _pressure;
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return true;
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}
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bool AP_Airspeed_UAVCAN::get_temperature(float &temperature)
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{
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if (!_have_temperature) {
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return false;
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}
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WITH_SEMAPHORE(_sem_airspeed);
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if ((AP_HAL::millis() - _last_sample_time_ms) > 100) {
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return false;
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}
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temperature = _temperature;
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return true;
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}
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#if AP_AIRSPEED_HYGROMETER_ENABLE
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/*
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return hygrometer data if available
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*/
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bool AP_Airspeed_UAVCAN::get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity)
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{
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if (_hygrometer.last_sample_ms == 0) {
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return false;
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}
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WITH_SEMAPHORE(_sem_airspeed);
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last_sample_ms = _hygrometer.last_sample_ms;
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temperature = _hygrometer.temperature;
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humidity = _hygrometer.humidity;
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return true;
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}
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#endif // AP_AIRSPEED_HYGROMETER_ENABLE
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#endif // AP_AIRSPEED_UAVCAN_ENABLED
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@ -0,0 +1,68 @@
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef AP_AIRSPEED_UAVCAN_ENABLED
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#define AP_AIRSPEED_UAVCAN_ENABLED HAL_ENABLE_LIBUAVCAN_DRIVERS
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#endif
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#if AP_AIRSPEED_UAVCAN_ENABLED
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#include "AP_Airspeed_Backend.h"
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#include <AP_DroneCAN/AP_DroneCAN.h>
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class AP_Airspeed_UAVCAN : public AP_Airspeed_Backend {
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public:
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AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance);
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bool init(void) override;
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// return the current differential_pressure in Pascal
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bool get_differential_pressure(float &pressure) override;
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// temperature not available via analog backend
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bool get_temperature(float &temperature) override;
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#if AP_AIRSPEED_HYGROMETER_ENABLE
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// get hygrometer data
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bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) override;
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#endif
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static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
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static AP_Airspeed_Backend* probe(AP_Airspeed &_fronted, uint8_t _instance, uint32_t previous_devid);
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private:
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static void handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg);
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static void handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg);
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static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
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float _pressure; // Pascal
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float _temperature; // Celcius
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uint32_t _last_sample_time_ms;
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// hygrometer data
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struct {
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float temperature;
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float humidity;
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uint32_t last_sample_ms;
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} _hygrometer;
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HAL_Semaphore _sem_airspeed;
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// Module Detection Registry
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static struct DetectedModules {
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AP_DroneCAN* ap_dronecan;
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uint8_t node_id;
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AP_Airspeed_UAVCAN *driver;
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} _detected_modules[AIRSPEED_MAX_SENSORS];
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static HAL_Semaphore _sem_registry;
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bool _have_temperature;
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};
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#endif // AP_AIRSPEED_UAVCAN_ENABLED
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