mirror of https://github.com/ArduPilot/ardupilot
135 lines
3.7 KiB
C++
135 lines
3.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if HAL_WITH_UAVCAN
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#include "AP_Compass_UAVCAN.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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extern const AP_HAL::HAL& hal;
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#define debug_mag_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig::get_can_debug()) { hal.console->printf(fmt, ##args); }} while (0)
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// There is limitation to use only one UAVCAN magnetometer now.
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/*
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constructor - registers instance at top Compass driver
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*/
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AP_Compass_UAVCAN::AP_Compass_UAVCAN(Compass &compass):
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AP_Compass_Backend(compass)
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{
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if (hal.can_mgr != nullptr) {
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AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
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if (ap_uavcan != nullptr) {
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// Give time to receive some packets from CAN if baro sensor is present
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// This way it will get calibrated correctly
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_instance = register_compass();
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hal.scheduler->delay(1000);
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uint8_t listener_channel = ap_uavcan->register_mag_listener(this, 1);
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struct DeviceStructure {
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uint8_t bus_type : 3;
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uint8_t bus: 5;
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uint8_t address;
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uint8_t devtype;
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};
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union DeviceId {
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struct DeviceStructure devid_s;
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uint32_t devid;
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};
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union DeviceId d;
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d.devid_s.bus_type = 3;
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d.devid_s.bus = 0;
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d.devid_s.address = listener_channel;
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d.devid_s.devtype = 0;
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set_dev_id(_instance, d.devid);
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set_external(_instance, true);
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_sum.zero();
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_count = 0;
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accumulate();
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debug_mag_uavcan(2, "AP_Compass_UAVCAN loaded\n\r");
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}
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}
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_mag_baro = hal.util->new_semaphore();
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}
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AP_Compass_UAVCAN::~AP_Compass_UAVCAN()
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{
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if (hal.can_mgr != nullptr) {
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AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
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if (ap_uavcan != nullptr) {
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ap_uavcan->remove_mag_listener(this);
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debug_mag_uavcan(2, "AP_Compass_UAVCAN destructed\n\r");
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}
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}
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}
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void AP_Compass_UAVCAN::read(void)
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{
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// avoid division by zero if we haven't received any mag reports
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if (_count == 0) {
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return;
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}
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if (_mag_baro->take(0)) {
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_sum /= _count;
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publish_filtered_field(_sum, _instance);
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_sum.zero();
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_count = 0;
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_mag_baro->give();
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}
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}
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void AP_Compass_UAVCAN::handle_mag_msg(Vector3f &mag)
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{
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Vector3f raw_field = mag * 1000.0;
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// rotate raw_field from sensor frame to body frame
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rotate_field(raw_field, _instance);
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_last_timestamp = AP_HAL::micros64();
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// publish raw_field (uncorrected point sample) for calibration use
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publish_raw_field(raw_field, (uint32_t) _last_timestamp, _instance);
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// correct raw_field for known errors
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correct_field(raw_field, _instance);
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if (_mag_baro->take(0)) {
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// accumulate into averaging filter
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_sum += raw_field;
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_count++;
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_mag_baro->give();
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}
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}
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#endif
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