mirror of https://github.com/ArduPilot/ardupilot
75 lines
1.9 KiB
C++
75 lines
1.9 KiB
C++
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if HAL_WITH_UAVCAN
|
|
|
|
#include "AP_Baro_UAVCAN.h"
|
|
#include <AP_BoardConfig/AP_BoardConfig.h>
|
|
|
|
#include <sys/types.h>
|
|
#include <sys/stat.h>
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#define debug_baro_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig::get_can_debug()) { hal.console->printf(fmt, ##args); }} while (0)
|
|
|
|
// There is limitation to use only one UAVCAN barometer now.
|
|
|
|
/*
|
|
constructor - registers instance at top Baro driver
|
|
*/
|
|
AP_Baro_UAVCAN::AP_Baro_UAVCAN(AP_Baro &baro) :
|
|
AP_Baro_Backend(baro)
|
|
{
|
|
_instance = _frontend.register_sensor();
|
|
if (hal.can_mgr != nullptr) {
|
|
AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
|
|
if (ap_uavcan != nullptr) {
|
|
// Give time to receive some packets from CAN if baro sensor is present
|
|
// This way it will get calibrated correctly
|
|
hal.scheduler->delay(1000);
|
|
ap_uavcan->register_baro_listener(this, 1);
|
|
|
|
debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");
|
|
}
|
|
}
|
|
|
|
_sem_baro = hal.util->new_semaphore();
|
|
}
|
|
|
|
AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
|
|
{
|
|
if (hal.can_mgr != nullptr) {
|
|
AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
|
|
if (ap_uavcan != nullptr) {
|
|
ap_uavcan->remove_baro_listener(this);
|
|
debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
|
|
}
|
|
}
|
|
}
|
|
|
|
// Read the sensor
|
|
void AP_Baro_UAVCAN::update(void)
|
|
{
|
|
if (_sem_baro->take(0)) {
|
|
_copy_to_frontend(_instance, _pressure, _temperature);
|
|
|
|
_frontend.set_external_temperature(_temperature);
|
|
_sem_baro->give();
|
|
}
|
|
}
|
|
|
|
void AP_Baro_UAVCAN::handle_baro_msg(float pressure, float temperature)
|
|
{
|
|
if (_sem_baro->take(0)) {
|
|
_pressure = pressure;
|
|
_temperature = temperature - 273.15f;
|
|
_last_timestamp = AP_HAL::micros64();
|
|
_sem_baro->give();
|
|
}
|
|
}
|
|
|
|
#endif // HAL_WITH_UAVCAN
|
|
|