mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.8 KiB
C++
76 lines
1.8 KiB
C++
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
|
#include <unistd.h>
|
|
#include <stdio.h>
|
|
#include "AP_Baro_qflight.h"
|
|
#include <AP_HAL_Linux/qflight/qflight_util.h>
|
|
#include <AP_HAL_Linux/qflight/qflight_dsp.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
/*
|
|
constructor - opens the QFLIGHT drivers
|
|
*/
|
|
AP_Baro_QFLIGHT::AP_Baro_QFLIGHT(AP_Baro &baro) :
|
|
AP_Baro_Backend(baro)
|
|
{
|
|
instance = _frontend.register_sensor();
|
|
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Baro_QFLIGHT::timer_update, void));
|
|
hal.scheduler->delay(100);
|
|
}
|
|
|
|
// Read the sensor
|
|
void AP_Baro_QFLIGHT::timer_update(void)
|
|
{
|
|
uint32_t now = AP_HAL::millis();
|
|
if (now - last_check_ms < 25) {
|
|
return;
|
|
}
|
|
last_check_ms = now;
|
|
|
|
if (barobuf == nullptr) {
|
|
barobuf = QFLIGHT_RPC_ALLOCATE(DSPBuffer::BARO);
|
|
if (barobuf == nullptr) {
|
|
AP_HAL::panic("Unable to allocate baro buffer");
|
|
}
|
|
}
|
|
int ret = qflight_get_baro_data((uint8_t *)barobuf, sizeof(*barobuf));
|
|
if (ret != 0) {
|
|
return;
|
|
}
|
|
|
|
if (!_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
|
return;
|
|
}
|
|
|
|
for (uint16_t i=0; i<barobuf->num_samples; i++) {
|
|
DSPBuffer::BARO::BUF &b = barobuf->buf[i];
|
|
pressure_sum += b.pressure_pa;
|
|
temperature_sum += b.temperature_C;
|
|
sum_count++;
|
|
}
|
|
|
|
_sem->give();
|
|
}
|
|
|
|
// Read the sensor
|
|
void AP_Baro_QFLIGHT::update(void)
|
|
{
|
|
if (!_sem->take_nonblocking()) {
|
|
return;
|
|
}
|
|
if (sum_count > 0) {
|
|
_copy_to_frontend(instance,
|
|
pressure_sum/sum_count,
|
|
temperature_sum/sum_count);
|
|
sum_count = 0;
|
|
pressure_sum = 0;
|
|
temperature_sum = 0;
|
|
}
|
|
_sem->give();
|
|
}
|
|
|
|
#endif // CONFIG_HAL_BOARD_SUBTYPE
|
|
|