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ardupilot/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_TemperatureSensor.h"
#if AP_TEMPERATURE_SENSOR_ENABLED
#include <AP_Vehicle/AP_Vehicle_Type.h>
#define AP_TEMPERATURE_SENSOR_DUMMY_METHODS_ENABLED (!(APM_BUILD_TYPE(APM_BUILD_ArduSub) || (AP_TEMPERATURE_SENSOR_ENABLED == 1)))
#if !AP_TEMPERATURE_SENSOR_DUMMY_METHODS_ENABLED
#include "AP_TemperatureSensor_TSYS01.h"
#include "AP_TemperatureSensor_MCP9600.h"
#include <AP_Logger/AP_Logger.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_TemperatureSensor::var_info[] = {
// SKIP INDEX 0
// @Param: _LOG
// @DisplayName: Logging
// @Description: Enables temperature sensor logging
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
AP_GROUPINFO("_LOG", 1, AP_TemperatureSensor, _log_flag, 0),
// SKIP Index 2-9 to be for parameters that apply to every sensor
// @Group: 1_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[0], "1_", 10, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 2
// @Group: 2_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[1], "2_", 11, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 3
// @Group: 3_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[2], "3_", 12, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 4
// @Group: 4_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[3], "4_", 13, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 5
// @Group: 5_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[4], "5_", 14, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 6
// @Group: 6_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[5], "6_", 15, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 7
// @Group: 7_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[6], "7_", 16, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 8
// @Group: 8_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[7], "8_", 17, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 9
// @Group: 9_
// @Path: AP_TemperatureSensor_Params.cpp
AP_SUBGROUPINFO(_params[8], "9_", 18, AP_TemperatureSensor, AP_TemperatureSensor_Params),
#endif
AP_GROUPEND
};
// Default Constructor
AP_TemperatureSensor::AP_TemperatureSensor()
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_TemperatureSensor must be singleton");
}
_singleton = this;
}
// init - instantiate the temperature sensors
void AP_TemperatureSensor::init()
{
// check init has not been called before
if (_num_instances != 0) {
return;
}
// For Sub set the Default: Type to TSYS01 and I2C_ADDR of 0x77
#if APM_BUILD_TYPE(APM_BUILD_ArduSub) && AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
AP_Param::set_default_by_name("TEMP1_TYPE", (float)AP_TemperatureSensor_Params::Type::TSYS01);
AP_Param::set_default_by_name("TEMP1_ADDR", TSYS01_ADDR_CSB0);
#endif
// create each instance
for (uint8_t instance = 0; instance < AP_TEMPERATURE_SENSOR_MAX_INSTANCES; instance++) {
switch (get_type(instance)) {
#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
case AP_TemperatureSensor_Params::Type::TSYS01:
drivers[instance] = new AP_TemperatureSensor_TSYS01(*this, _state[instance], _params[instance]);
break;
#endif
#if AP_TEMPERATURE_SENSOR_MCP9600_ENABLED
case AP_TemperatureSensor_Params::Type::MCP9600:
drivers[instance] = new AP_TemperatureSensor_MCP9600(*this, _state[instance], _params[instance]);
break;
#endif
case AP_TemperatureSensor_Params::Type::NONE:
default:
break;
}
// call init function for each backend
if (drivers[instance] != nullptr) {
_state[instance].instance = instance;
drivers[instance]->init();
// _num_instances is actually the index for looping over instances
// the user may have TEMP_TYPE=0 and TEMP2_TYPE=7, in which case
// there will be a gap, but as we always check for drivers[instances] being nullptr
// this is safe
_num_instances = instance + 1;
}
}
if (_num_instances > 0) {
// param count could have changed
AP_Param::invalidate_count();
}
}
// update: - For all active instances update temperature and log TEMP
void AP_TemperatureSensor::update()
{
for (uint8_t i=0; i<_num_instances; i++) {
if (drivers[i] != nullptr && get_type(i) != AP_TemperatureSensor_Params::Type::NONE) {
drivers[i]->update();
#if HAL_LOGGING_ENABLED
const AP_Logger *logger = AP_Logger::get_singleton();
if (logger != nullptr && _log_flag) {
drivers[i]->Log_Write_TEMP();
}
#endif
}
}
}
AP_TemperatureSensor_Params::Type AP_TemperatureSensor::get_type(const uint8_t instance) const
{
if (instance >= AP_TEMPERATURE_SENSOR_MAX_INSTANCES) {
return AP_TemperatureSensor_Params::Type::NONE;
}
return (AP_TemperatureSensor_Params::Type)_params[instance].type.get();
}
// returns true if there is a temperature reading
bool AP_TemperatureSensor::get_temperature(float &temp, const uint8_t instance) const
{
if (!healthy(instance)) {
return false;
}
temp = _state[instance].temperature;
return true;
}
bool AP_TemperatureSensor::healthy(const uint8_t instance) const
{
return instance < _num_instances && drivers[instance] != nullptr && drivers[instance]->healthy();
}
AP_TemperatureSensor_Params::Source AP_TemperatureSensor::get_source(const uint8_t instance) const
{
return healthy(instance) ? (AP_TemperatureSensor_Params::Source)_params[instance].source.get() : AP_TemperatureSensor_Params::Source::None;
}
int32_t AP_TemperatureSensor::get_source_id(const uint8_t instance) const
{
return healthy(instance) ? _params[instance].source_id.get() : 0;
}
#else
const AP_Param::GroupInfo AP_TemperatureSensor::var_info[] = { AP_GROUPEND };
void AP_TemperatureSensor::init() { };
void AP_TemperatureSensor::update() { };
bool AP_TemperatureSensor::get_temperature(float &temp, const uint8_t instance) const { return false; };
bool AP_TemperatureSensor::healthy(const uint8_t instance) const { return false; };
AP_TemperatureSensor_Params::Type AP_TemperatureSensor::get_type(const uint8_t instance) const { return AP_TemperatureSensor_Params::Type::NONE; };
AP_TemperatureSensor_Params::Source AP_TemperatureSensor::get_source(const uint8_t instance) const { return AP_TemperatureSensor_Params::Source::None; };
int32_t AP_TemperatureSensor::get_source_id(const uint8_t instance) const { return false; };
AP_TemperatureSensor::AP_TemperatureSensor() {}
#endif // AP_TEMPERATURE_SENSOR_DUMMY_METHODS_ENABLED
AP_TemperatureSensor *AP_TemperatureSensor::_singleton;
namespace AP {
AP_TemperatureSensor &temperature_sensor() {
return *AP_TemperatureSensor::get_singleton();
}
};
#endif // AP_TEMPERATURE_SENSOR_ENABLED
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