mirror of https://github.com/ArduPilot/ardupilot
104 lines
2.4 KiB
C++
104 lines
2.4 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if HAL_WITH_UAVCAN
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#include "AP_Baro_UAVCAN.h"
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
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extern const AP_HAL::HAL& hal;
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#define debug_baro_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
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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_UAVCAN::AP_Baro_UAVCAN(AP_Baro &baro) :
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AP_Baro_Backend(baro)
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{
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}
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AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
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{
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if (!_initialized) {
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return;
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}
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AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(_manager);
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if (ap_uavcan == nullptr) {
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return;
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}
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ap_uavcan->remove_baro_listener(this);
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debug_baro_uavcan(2, _manager, "AP_Baro_UAVCAN destructed\n\r");
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}
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AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
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{
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uint8_t can_num_drivers = AP::can().get_num_drivers();
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AP_Baro_UAVCAN *sensor;
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for (uint8_t i = 0; i < can_num_drivers; i++) {
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AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
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if (ap_uavcan == nullptr) {
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continue;
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}
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uint8_t freebaro = ap_uavcan->find_smallest_free_baro_node();
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if (freebaro == UINT8_MAX) {
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continue;
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}
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sensor = new AP_Baro_UAVCAN(baro);
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if (sensor->register_uavcan_baro(i, freebaro)) {
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debug_baro_uavcan(2, i, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
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return sensor;
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} else {
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delete sensor;
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}
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}
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return nullptr;
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}
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// Read the sensor
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void AP_Baro_UAVCAN::update(void)
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{
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WITH_SEMAPHORE(_sem_baro);
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_copy_to_frontend(_instance, _pressure, _temperature);
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_frontend.set_external_temperature(_temperature);
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}
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void AP_Baro_UAVCAN::handle_baro_msg(float pressure, float temperature)
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{
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WITH_SEMAPHORE(_sem_baro);
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_pressure = pressure;
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_temperature = temperature - C_TO_KELVIN;
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_last_timestamp = AP_HAL::micros64();
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}
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bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node)
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{
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AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
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if (ap_uavcan == nullptr) {
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return false;
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}
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_manager = mgr;
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if (ap_uavcan->register_baro_listener_to_node(this, node)) {
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_instance = _frontend.register_sensor();
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debug_baro_uavcan(2, mgr, "AP_Baro_UAVCAN loaded\n\r");
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_initialized = true;
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return true;
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}
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return false;
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}
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#endif // HAL_WITH_UAVCAN
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