ardupilot/libraries/AP_RPM/RPM_DroneCAN.cpp

89 lines
2.9 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_RPM_config.h"
#if AP_RPM_DRONECAN_ENABLED
#include "RPM_DroneCAN.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
AP_RPM_DroneCAN* AP_RPM_DroneCAN::_drivers[];
uint8_t AP_RPM_DroneCAN::_driver_instance;
HAL_Semaphore AP_RPM_DroneCAN::_driver_sem;
AP_RPM_DroneCAN::AP_RPM_DroneCAN(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state) :
AP_RPM_Backend(_ap_rpm, instance, _state)
{
// Register self in static driver list
WITH_SEMAPHORE(_driver_sem);
_drivers[_driver_instance] = this;
_driver_instance++;
}
// Subscribe to incoming rpm messages
void AP_RPM_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_dronecan == nullptr) {
return;
}
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_rpm, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("rpm_sub");
}
}
// Receive new CAN message
void AP_RPM_DroneCAN::handle_rpm(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_rpm_RPM &msg)
{
WITH_SEMAPHORE(_driver_sem);
for (uint8_t i = 0; i < _driver_instance; i++) {
if (_drivers[i] == nullptr) {
continue;
}
// Find params for this instance
const uint8_t instance = _drivers[i]->state.instance;
const AP_RPM_Params& params = _drivers[i]->ap_rpm._params[instance];
if (params.dronecan_sensor_id == msg.sensor_id) {
// Driver loaded and looking for this ID, add reading
_drivers[i]->last_reading_ms = AP_HAL::millis();
_drivers[i]->rpm = msg.rpm * params.scaling;
const bool heathy = (msg.flags & DRONECAN_SENSORS_RPM_RPM_FLAGS_UNHEALTHY) == 0;
_drivers[i]->signal_quality = heathy ? 0.5 : 0.0;
}
}
}
void AP_RPM_DroneCAN::update(void)
{
WITH_SEMAPHORE(_driver_sem);
// Update state from temporay variables
state.last_reading_ms = last_reading_ms;
state.signal_quality = signal_quality;
state.rate_rpm = rpm;
// assume we get readings at at least 1Hz, otherwise reset quality to zero
if ((AP_HAL::millis() - state.last_reading_ms) > 1000) {
state.signal_quality = 0;
state.rate_rpm = 0;
}
}
#endif // AP_RPM_DRONECAN_ENABLED