mirror of https://github.com/ArduPilot/ardupilot
178 lines
5.8 KiB
C++
178 lines
5.8 KiB
C++
#include "AP_Baro_DroneCAN.h"
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#if AP_BARO_DRONECAN_ENABLED
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#include <AP_CANManager/AP_CANManager.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include "AP_Baro_SITL.h"
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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extern const AP_HAL::HAL& hal;
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#define LOG_TAG "Baro"
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AP_Baro_DroneCAN::DetectedModules AP_Baro_DroneCAN::_detected_modules[];
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HAL_Semaphore AP_Baro_DroneCAN::_sem_registry;
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/*
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constructor - registers instance at top Baro driver
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*/
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AP_Baro_DroneCAN::AP_Baro_DroneCAN(AP_Baro &baro) :
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AP_Baro_Backend(baro)
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{}
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void AP_Baro_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
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{
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if (ap_dronecan == nullptr) {
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return;
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}
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if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_pressure, ap_dronecan->get_driver_index()) == nullptr) {
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AP_BoardConfig::allocation_error("pressure_sub");
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}
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if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_temperature, ap_dronecan->get_driver_index()) == nullptr) {
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AP_BoardConfig::allocation_error("temperature_sub");
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}
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}
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AP_Baro_Backend* AP_Baro_DroneCAN::probe(AP_Baro &baro)
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{
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WITH_SEMAPHORE(_sem_registry);
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AP_Baro_DroneCAN* backend = nullptr;
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for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
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if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) {
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backend = new AP_Baro_DroneCAN(baro);
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if (backend == nullptr) {
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AP::can().log_text(AP_CANManager::LOG_ERROR,
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LOG_TAG,
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"Failed register UAVCAN Baro Node %d on Bus %d\n",
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_detected_modules[i].node_id,
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_detected_modules[i].ap_dronecan->get_driver_index());
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} else {
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_detected_modules[i].driver = backend;
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backend->_pressure = 0;
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backend->_pressure_count = 0;
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backend->_ap_dronecan = _detected_modules[i].ap_dronecan;
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backend->_node_id = _detected_modules[i].node_id;
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backend->_instance = backend->_frontend.register_sensor();
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backend->set_bus_id(backend->_instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
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_detected_modules[i].ap_dronecan->get_driver_index(),
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backend->_node_id, 0));
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AP::can().log_text(AP_CANManager::LOG_INFO,
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LOG_TAG,
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"Registered UAVCAN Baro Node %d on Bus %d\n",
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_detected_modules[i].node_id,
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_detected_modules[i].ap_dronecan->get_driver_index());
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}
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break;
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}
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}
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return backend;
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}
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AP_Baro_DroneCAN* AP_Baro_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new)
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{
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if (ap_dronecan == nullptr) {
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return nullptr;
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}
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for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
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if (_detected_modules[i].driver != nullptr &&
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_detected_modules[i].ap_dronecan == ap_dronecan &&
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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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if (create_new) {
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bool already_detected = false;
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//Check if there's an empty spot for possible registeration
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for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
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if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) {
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//Already Detected
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already_detected = true;
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break;
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}
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}
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if (!already_detected) {
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for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
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if (_detected_modules[i].ap_dronecan == nullptr) {
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_detected_modules[i].ap_dronecan = ap_dronecan;
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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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}
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return nullptr;
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}
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void AP_Baro_DroneCAN::_update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count)
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{
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*accum += val;
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*count += 1;
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if (*count == max_count) {
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*count = max_count / 2;
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*accum = *accum / 2;
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}
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}
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void AP_Baro_DroneCAN::handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg)
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{
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AP_Baro_DroneCAN* driver;
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{
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WITH_SEMAPHORE(_sem_registry);
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driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, true);
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if (driver == nullptr) {
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return;
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}
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}
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{
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WITH_SEMAPHORE(driver->_sem_baro);
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_update_and_wrap_accumulator(&driver->_pressure, msg.static_pressure, &driver->_pressure_count, 32);
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driver->new_pressure = true;
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}
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}
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void AP_Baro_DroneCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg)
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{
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AP_Baro_DroneCAN* driver;
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{
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WITH_SEMAPHORE(_sem_registry);
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driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, false);
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if (driver == nullptr) {
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return;
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}
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}
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{
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WITH_SEMAPHORE(driver->_sem_baro);
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driver->_temperature = KELVIN_TO_C(msg.static_temperature);
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}
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}
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// Read the sensor
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void AP_Baro_DroneCAN::update(void)
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{
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float pressure = 0;
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WITH_SEMAPHORE(_sem_baro);
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if (new_pressure) {
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if (_pressure_count != 0) {
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pressure = _pressure / _pressure_count;
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_pressure_count = 0;
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_pressure = 0;
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}
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_copy_to_frontend(_instance, pressure, _temperature);
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_frontend.set_external_temperature(_temperature);
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new_pressure = false;
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}
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}
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#endif // AP_BARO_DRONECAN_ENABLED
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