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AP_Baro: removal of legacy UAVCAN support

This commit is contained in:
Eugene Shamaev 2017-04-13 20:50:04 +03:00 committed by Andrew Tridgell
parent 67a6e651d6
commit fd866d3e20
3 changed files with 0 additions and 100 deletions
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3
libraries/AP_Baro/AP_Baro.cpp
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@ -31,7 +31,6 @@
#include "AP_Baro_BMP280.h"
#include "AP_Baro_HIL.h"
#include "AP_Baro_MS5611.h"
#include "AP_Baro_PX4.h"
#include "AP_Baro_qflight.h"
#include "AP_Baro_QURT.h"
#if HAL_WITH_UAVCAN
@ -427,8 +426,6 @@ void AP_Baro::init(void)
break;
default:
drivers[0] = new AP_Baro_PX4(*this);
_num_drivers = 1;
break;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_HIL

75
libraries/AP_Baro/AP_Baro_PX4.cpp
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@ -1,75 +0,0 @@
#include "AP_Baro_PX4.h"
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>
extern const AP_HAL::HAL& hal;
/*
constructor - opens the PX4 drivers
*/
AP_Baro_PX4::AP_Baro_PX4(AP_Baro &baro) :
AP_Baro_Backend(baro),
_num_instances(0)
{
memset(instances, 0, sizeof(instances));
instances[0].fd = open(BARO_BASE_DEVICE_PATH"0", O_RDONLY);
instances[1].fd = open(BARO_BASE_DEVICE_PATH"1", O_RDONLY);
instances[2].fd = open(BARO_BASE_DEVICE_PATH"2", O_RDONLY);
for (uint8_t i=0; i<3; i++) {
if (instances[i].fd != -1) {
_num_instances = i+1;
} else {
break;
}
}
for (uint8_t i=0; i<_num_instances; i++) {
instances[i].instance = _frontend.register_sensor();
/* set the driver to poll at 150Hz */
ioctl(instances[i].fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX);
// average over up to 20 samples
ioctl(instances[i].fd, SENSORIOCSQUEUEDEPTH, 20);
}
}
// Read the sensor
void AP_Baro_PX4::update(void)
{
for (uint8_t i=0; i<_num_instances; i++) {
struct baro_report baro_report;
struct px4_instance &instance = instances[i];
while (::read(instance.fd, &baro_report, sizeof(baro_report)) == sizeof(baro_report) &&
baro_report.timestamp != instance.last_timestamp) {
instance.pressure_sum += baro_report.pressure; // Pressure in mbar
instance.temperature_sum += baro_report.temperature; // degrees celcius
instance.sum_count++;
instance.last_timestamp = baro_report.timestamp;
}
}
for (uint8_t i=0; i<_num_instances; i++) {
struct px4_instance &instance = instances[i];
if (instance.sum_count > 0) {
float pressure = (instance.pressure_sum / instance.sum_count) * 100;
float temperature = instance.temperature_sum / instance.sum_count;
instance.pressure_sum = 0;
instance.temperature_sum = 0;
instance.sum_count = 0;
_copy_to_frontend(instance.instance, pressure, temperature);
}
}
}
#endif // CONFIG_HAL_BOARD

22
libraries/AP_Baro/AP_Baro_PX4.h
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@ -1,22 +0,0 @@
#pragma once
#include "AP_Baro_Backend.h"
class AP_Baro_PX4 : public AP_Baro_Backend
{
public:
AP_Baro_PX4(AP_Baro &);
void update();
private:
uint8_t _num_instances;
struct px4_instance {
uint8_t instance;
int fd;
float pressure_sum;
float temperature_sum;
uint32_t sum_count;
uint64_t last_timestamp;
} instances[BARO_MAX_INSTANCES];
};