diff --git a/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp b/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp new file mode 100644 index 0000000000..93fd090cfc --- /dev/null +++ b/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp @@ -0,0 +1,197 @@ +#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_DroneCAN.h b/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.h new file mode 100644 index 0000000000..3ccbdd7127 --- /dev/null +++ b/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.h @@ -0,0 +1,68 @@ +#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