mirror of https://github.com/ArduPilot/ardupilot
173 lines
5.0 KiB
C++
173 lines
5.0 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if HAL_WITH_UAVCAN
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#include "AP_Airspeed_UAVCAN.h"
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#include <uavcan/equipment/air_data/RawAirData.hpp>
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extern const AP_HAL::HAL& hal;
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#define debug_airspeed_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
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// UAVCAN Frontend Registry Binder
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UC_REGISTRY_BINDER(AirspeedCb, uavcan::equipment::air_data::RawAirData);
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AP_Airspeed_UAVCAN::DetectedModules AP_Airspeed_UAVCAN::_detected_modules[] = {0};
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HAL_Semaphore AP_Airspeed_UAVCAN::_sem_registry;
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// constructor
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AP_Airspeed_UAVCAN::AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance) :
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AP_Airspeed_Backend(_frontend, _instance)
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{}
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void AP_Airspeed_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
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{
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if (ap_uavcan == nullptr) {
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return;
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}
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auto* node = ap_uavcan->get_node();
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uavcan::Subscriber<uavcan::equipment::air_data::RawAirData, AirspeedCb> *airspeed_listener;
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airspeed_listener = new uavcan::Subscriber<uavcan::equipment::air_data::RawAirData, AirspeedCb>(*node);
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const int airspeed_listener_res = airspeed_listener->start(AirspeedCb(ap_uavcan, &handle_airspeed));
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if (airspeed_listener_res < 0) {
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AP_HAL::panic("UAVCAN Airspeed subscriber start problem\n");
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}
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}
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bool AP_Airspeed_UAVCAN::take_registry()
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{
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return _sem_registry.take(HAL_SEMAPHORE_BLOCK_FOREVER);
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}
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void AP_Airspeed_UAVCAN::give_registry()
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{
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_sem_registry.give();
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}
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AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _instance)
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{
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if (!take_registry()) {
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return nullptr;
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}
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AP_Airspeed_UAVCAN* backend = nullptr;
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for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
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if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) {
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backend = new AP_Airspeed_UAVCAN(_frontend, _instance);
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if (backend == nullptr) {
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debug_airspeed_uavcan(2,
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_detected_modules[i].ap_uavcan->get_driver_index(),
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"Failed register UAVCAN Airspeed Node %d on Bus %d\n",
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_detected_modules[i].node_id,
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_detected_modules[i].ap_uavcan->get_driver_index());
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} else {
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_detected_modules[i].driver = backend;
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debug_airspeed_uavcan(2,
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_detected_modules[i].ap_uavcan->get_driver_index(),
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"Registered UAVCAN Airspeed Node %d on Bus %d\n",
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_detected_modules[i].node_id,
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_detected_modules[i].ap_uavcan->get_driver_index());
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}
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break;
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}
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}
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give_registry();
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return backend;
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}
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AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id)
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{
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if (ap_uavcan == nullptr) {
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return nullptr;
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}
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for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
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if (_detected_modules[i].driver != nullptr &&
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_detected_modules[i].ap_uavcan == ap_uavcan &&
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_detected_modules[i].node_id == node_id ) {
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return _detected_modules[i].driver;
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}
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}
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bool detected = false;
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for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
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if (_detected_modules[i].ap_uavcan == ap_uavcan && _detected_modules[i].node_id == node_id) {
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// detected
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detected = true;
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break;
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}
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}
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if (!detected) {
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for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) {
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if (_detected_modules[i].ap_uavcan == nullptr) {
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_detected_modules[i].ap_uavcan = ap_uavcan;
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_detected_modules[i].node_id = node_id;
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break;
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}
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}
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}
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return nullptr;
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}
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void AP_Airspeed_UAVCAN::handle_airspeed(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AirspeedCb &cb)
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{
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if (take_registry()) {
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AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id);
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if (driver != nullptr) {
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WITH_SEMAPHORE(driver->_sem_airspeed);
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driver->_pressure = cb.msg->differential_pressure;
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driver->_temperature = cb.msg->static_air_temperature;
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driver->_last_sample_time_ms = AP_HAL::millis();
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}
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give_registry();
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}
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}
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bool AP_Airspeed_UAVCAN::init()
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{
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// always returns true
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return true;
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}
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bool AP_Airspeed_UAVCAN::get_differential_pressure(float &pressure)
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{
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WITH_SEMAPHORE(_sem_airspeed);
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if ((AP_HAL::millis() - _last_sample_time_ms) > 100) {
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return false;
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}
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pressure = _pressure;
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return true;
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}
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bool AP_Airspeed_UAVCAN::get_temperature(float &temperature)
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{
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WITH_SEMAPHORE(_sem_airspeed);
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if ((AP_HAL::millis() - _last_sample_time_ms) > 100) {
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return false;
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}
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temperature = _temperature - C_TO_KELVIN;
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return true;
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}
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#endif // HAL_WITH_UAVCAN
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