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AP_Airspeed: rename AP_UAVCAN to AP_DroneCAN

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This commit is contained in:
Andrew Tridgell 2023-04-07 10:18:01 +10:00
parent 75ed340efa
commit c179ea3232
2 changed files with 25 additions and 25 deletions
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38
libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp
View File

@ -3,7 +3,7 @@
#if AP_AIRSPEED_UAVCAN_ENABLED
#include <AP_CANManager/AP_CANManager.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
extern const AP_HAL::HAL& hal;
@ -18,18 +18,18 @@ AP_Airspeed_UAVCAN::AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance
AP_Airspeed_Backend(_frontend, _instance)
{}
void AP_Airspeed_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
void AP_Airspeed_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_uavcan == nullptr) {
if (ap_dronecan == nullptr) {
return;
}
if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_airspeed, ap_uavcan->get_driver_index()) == nullptr) {
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_uavcan, &handle_hygrometer, ap_uavcan->get_driver_index()) == nullptr) {
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_hygrometer, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("hygrometer_sub");
}
#endif
@ -42,9 +42,9 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _
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_uavcan != nullptr) {
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_uavcan->get_driver_index(),
_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
@ -56,14 +56,14 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _
LOG_TAG,
"Failed register UAVCAN Airspeed Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_uavcan->get_driver_index());
_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_uavcan->get_driver_index());
_detected_modules[i].ap_dronecan->get_driver_index());
backend->set_bus_id(bus_id);
}
break;
@ -73,15 +73,15 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _
return backend;
}
AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id)
AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
{
if (ap_uavcan == nullptr) {
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_uavcan == ap_uavcan &&
_detected_modules[i].ap_dronecan == ap_dronecan &&
_detected_modules[i].node_id == node_id ) {
return _detected_modules[i].driver;
}
@ -89,7 +89,7 @@ AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan,
bool detected = false;
for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
if (_detected_modules[i].ap_uavcan == ap_uavcan && _detected_modules[i].node_id == node_id) {
if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) {
// detected
detected = true;
break;
@ -98,8 +98,8 @@ AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan,
if (!detected) {
for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
if (_detected_modules[i].ap_uavcan == nullptr) {
_detected_modules[i].ap_uavcan = ap_uavcan;
if (_detected_modules[i].ap_dronecan == nullptr) {
_detected_modules[i].ap_dronecan = ap_dronecan;
_detected_modules[i].node_id = node_id;
break;
}
@ -109,11 +109,11 @@ AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan,
return nullptr;
}
void AP_Airspeed_UAVCAN::handle_airspeed(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg)
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_uavcan, transfer.source_node_id);
AP_Airspeed_UAVCAN* 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_UAVCAN *ap_uavcan, const CanardRxTra
}
#if AP_AIRSPEED_HYGROMETER_ENABLE
void AP_Airspeed_UAVCAN::handle_hygrometer(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg)
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_uavcan, transfer.source_node_id);
AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
WITH_SEMAPHORE(driver->_sem_airspeed);

12
libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h
View File

@ -10,7 +10,7 @@
#include "AP_Airspeed_Backend.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
class AP_Airspeed_UAVCAN : public AP_Airspeed_Backend {
public:
@ -29,16 +29,16 @@ public:
bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) override;
#endif
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
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_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg);
static void handle_hygrometer(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg);
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_UAVCAN* ap_uavcan, uint8_t node_id);
static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
float _pressure; // Pascal
float _temperature; // Celcius
@ -55,7 +55,7 @@ private:
// Module Detection Registry
static struct DetectedModules {
AP_UAVCAN* ap_uavcan;
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
AP_Airspeed_UAVCAN *driver;
} _detected_modules[AIRSPEED_MAX_SENSORS];