ardupilot/libraries/AP_Baro/AP_Baro_qflight.cpp

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(0)) {
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