AP_Airspeed: added DEVID parameters for airspeed

this makes log analysis easier

libraries/AP_Airspeed/AP_Airspeed.cpp

@@ -257,6 +257,23 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
 
     // Note that 21, 22 and 23 are used above by the _OPTIONS, _WIND_MAX and _WIND_WARN parameters.  Do not use them!!
 
+    // @Param: _DEVID
+    // @DisplayName: Airspeed ID
+    // @Description: Airspeed sensor ID, taking into account its type, bus and instance
+    // @ReadOnly: True
+    // @User: Advanced
+    AP_GROUPINFO_FLAGS("_DEVID", 24, AP_Airspeed, param[0].bus_id, 0, AP_PARAM_FLAG_INTERNAL_USE_ONLY),
+
+#if AIRSPEED_MAX_SENSORS > 1
+    // @Param: 2_DEVID
+    // @DisplayName: Airspeed2 ID
+    // @Description: Airspeed2 sensor ID, taking into account its type, bus and instance
+    // @ReadOnly: True
+    // @User: Advanced
+    AP_GROUPINFO_FLAGS("2_DEVID", 25, AP_Airspeed, param[1].bus_id, 0, AP_PARAM_FLAG_INTERNAL_USE_ONLY),
+#endif
+    
+    
     AP_GROUPEND
 };
 

libraries/AP_Airspeed/AP_Airspeed.h

@@ -205,6 +205,7 @@ private:
         AP_Int8  autocal;
         AP_Int8  tube_order;
         AP_Int8  skip_cal;
+        AP_Int32 bus_id;
     } param[AIRSPEED_MAX_SENSORS];
 
     struct airspeed_state {

libraries/AP_Airspeed/AP_Airspeed_ASP5033.cpp

@@ -54,6 +54,9 @@ bool AP_Airspeed_ASP5033::init()
             continue;
         }
 
+        dev->set_device_type(uint8_t(DevType::ASP5033));
+        set_bus_id(dev->get_bus_id());
+
         dev->register_periodic_callback(1000000UL/80U,
                                         FUNCTOR_BIND_MEMBER(&AP_Airspeed_ASP5033::timer, void));
         return true;

libraries/AP_Airspeed/AP_Airspeed_Backend.h

@@ -86,6 +86,24 @@ protected:
         frontend.param[instance].use.set(use);
     }
 
+    // set bus ID of this instance, for ARSPD_DEVID parameters
+    void set_bus_id(uint32_t id) {
+        frontend.param[instance].bus_id.set(int32_t(id));
+    }
+
+    enum class DevType {
+        SITL     = 0x01,
+        MS4525   = 0x02,
+        MS5525   = 0x03,
+        DLVR     = 0x04,
+        MSP      = 0x05,
+        SDP3X    = 0x06,
+        UAVCAN   = 0x07,
+        ANALOG   = 0x08,
+        NMEA     = 0x09,
+        ASP5033  = 0x0A,
+    };
+    
 private:
     AP_Airspeed &frontend;
     uint8_t instance;

libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp

@@ -43,10 +43,12 @@ bool AP_Airspeed_DLVR::init()
     if (!dev) {
         return false;
     }
-    dev->get_semaphore()->take_blocking();
+    WITH_SEMAPHORE(dev->get_semaphore());
     dev->set_speed(AP_HAL::Device::SPEED_LOW);
     dev->set_retries(2);
-    dev->get_semaphore()->give();
+    dev->set_device_type(uint8_t(DevType::DLVR));
+    set_bus_id(dev->get_bus_id());
+
     dev->register_periodic_callback(1000000UL/50U,
                                     FUNCTOR_BIND_MEMBER(&AP_Airspeed_DLVR::timer, void));
     return true;

libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp

@@ -90,6 +90,9 @@ bool AP_Airspeed_MS4525::init()
     return false;
 
 found_sensor:
+    _dev->set_device_type(uint8_t(DevType::MS4525));
+    set_bus_id(_dev->get_bus_id());
+
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "MS4525[%u]: Found bus %u addr 0x%02x", get_instance(), _dev->bus_num(), _dev->get_bus_address());
 
     // drop to 2 retries for runtime

libraries/AP_Airspeed/AP_Airspeed_MS5525.cpp

@@ -72,7 +72,7 @@ bool AP_Airspeed_MS5525::init()
         if (!dev) {
             continue;
         }
-        dev->get_semaphore()->take_blocking();
+        WITH_SEMAPHORE(dev->get_semaphore());
 
         // lots of retries during probe
         dev->set_retries(5);
@@ -83,7 +83,6 @@ bool AP_Airspeed_MS5525::init()
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "MS5525[%u]: Found on bus %u addr 0x%02x", get_instance(), get_bus(), addresses[i]);
             break;
         }
-        dev->get_semaphore()->give();
     }
     if (!found) {
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "MS5525[%u]: no sensor found", get_instance());
@@ -91,16 +90,18 @@ bool AP_Airspeed_MS5525::init()
     }
 
     // Send a command to read temperature first
+    WITH_SEMAPHORE(dev->get_semaphore());
     uint8_t reg = REG_CONVERT_TEMPERATURE;
     dev->transfer(&reg, 1, nullptr, 0);
     state = 0;
     command_send_us = AP_HAL::micros();
 
+    dev->set_device_type(uint8_t(DevType::MS5525));
+    set_bus_id(dev->get_bus_id());
+
     // drop to 2 retries for runtime
     dev->set_retries(2);
 
-    dev->get_semaphore()->give();
-
     // read at 80Hz
     dev->register_periodic_callback(1000000UL/80U,
                                     FUNCTOR_BIND_MEMBER(&AP_Airspeed_MS5525::timer, void));

libraries/AP_Airspeed/AP_Airspeed_MSP.cpp

@@ -6,6 +6,7 @@ AP_Airspeed_MSP::AP_Airspeed_MSP(AP_Airspeed &_frontend, uint8_t _instance, uint
     AP_Airspeed_Backend(_frontend, _instance),
     msp_instance(_msp_instance)
 {
+    set_bus_id(AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP,0,msp_instance,0));
 }
 
 // return the current differential_pressure in Pascal

libraries/AP_Airspeed/AP_Airspeed_NMEA.cpp

@@ -42,6 +42,8 @@ bool AP_Airspeed_NMEA::init()
         return false;
     }
 
+    set_bus_id(AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SERIAL,0,0,0));
+
     _uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_AirSpeed, 0));
 
     // make sure this sensor cannot be used in the EKF

libraries/AP_Airspeed/AP_Airspeed_SDP3X.cpp

@@ -143,6 +143,9 @@ bool AP_Airspeed_SDP3X::init()
     set_skip_cal();
     set_offset(0);
     
+    _dev->set_device_type(uint8_t(DevType::SDP3X));
+    set_bus_id(_dev->get_bus_id());
+
     // drop to 2 retries for runtime
     _dev->set_retries(2);
 

libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp

@@ -63,6 +63,9 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _
                                       "Registered UAVCAN Airspeed Node %d on Bus %d\n",
                                       _detected_modules[i].node_id,
                                       _detected_modules[i].ap_uavcan->get_driver_index());
+                backend->set_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].node_id, 0));
             }
             break;
         }