AP_Airspeed: rename UAVCAN drivers to DroneCAN

libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp

@@ -0,0 +1,197 @@
+#include "AP_Airspeed_UAVCAN.h"
+
+#if AP_AIRSPEED_UAVCAN_ENABLED
+
+#include <AP_CANManager/AP_CANManager.h>
+#include <AP_DroneCAN/AP_DroneCAN.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
+
+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

libraries/AP_Airspeed/AP_Airspeed_DroneCAN.h

@@ -0,0 +1,68 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#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 <AP_DroneCAN/AP_DroneCAN.h>
+
+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