mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.3 KiB
C++
78 lines
2.3 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include "AP_Baro.h"
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#include "AP_Baro_PX4.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 <drivers/drv_baro.h>
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#include <drivers/drv_hrt.h>
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extern const AP_HAL::HAL& hal;
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/*
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constructor - opens the PX4 drivers
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*/
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AP_Baro_PX4::AP_Baro_PX4(AP_Baro &baro) :
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AP_Baro_Backend(baro),
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_num_instances(0)
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{
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memset(instances, 0, sizeof(instances));
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instances[0].fd = open(BARO_BASE_DEVICE_PATH"0", O_RDONLY);
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instances[1].fd = open(BARO_BASE_DEVICE_PATH"1", O_RDONLY);
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for (uint8_t i=0; i<2; i++) {
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if (instances[i].fd != -1) {
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_num_instances = i+1;
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} else {
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break;
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}
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}
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for (uint8_t i=0; i<_num_instances; i++) {
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instances[i].instance = _frontend.register_sensor();
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/* set the driver to poll at 150Hz */
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ioctl(instances[i].fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX);
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// average over up to 20 samples
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ioctl(instances[i].fd, SENSORIOCSQUEUEDEPTH, 20);
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}
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}
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// Read the sensor
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void AP_Baro_PX4::update(void)
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{
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for (uint8_t i=0; i<_num_instances; i++) {
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struct baro_report baro_report;
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struct px4_instance &instance = instances[i];
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while (::read(instance.fd, &baro_report, sizeof(baro_report)) == sizeof(baro_report) &&
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baro_report.timestamp != instance.last_timestamp) {
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instance.pressure_sum += baro_report.pressure; // Pressure in mbar
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instance.temperature_sum += baro_report.temperature; // degrees celcius
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instance.sum_count++;
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instance.last_timestamp = baro_report.timestamp;
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}
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}
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for (uint8_t i=0; i<_num_instances; i++) {
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struct px4_instance &instance = instances[i];
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if (instance.sum_count > 0) {
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float pressure = (instance.pressure_sum / instance.sum_count) * 100;
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float temperature = instance.temperature_sum / instance.sum_count;
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instance.pressure_sum = 0;
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instance.temperature_sum = 0;
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instance.sum_count = 0;
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_copy_to_frontend(instance.instance, pressure, temperature);
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}
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}
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}
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#endif // CONFIG_HAL_BOARD
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