mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.2 KiB
C++
84 lines
2.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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//
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// UAVCAN GPS driver
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//
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#include "AP_GPS_UAVCAN.h"
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#include <stdint.h>
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#if HAL_WITH_UAVCAN
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#include <AP_UAVCAN/AP_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_gps_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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AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
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AP_GPS_Backend(_gps, _state, _port)
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{
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_sem_gnss = hal.util->new_semaphore();
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}
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// For each instance we need to deregister from AP_UAVCAN class
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AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
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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_gps_listener(this);
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delete _sem_gnss;
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debug_gps_uavcan(2, _manager, "AP_GPS_UAVCAN destructed\n\r");
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}
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void AP_GPS_UAVCAN::set_uavcan_manager(uint8_t mgr)
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{
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_manager = mgr;
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}
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// Consume new data and mark it received
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bool AP_GPS_UAVCAN::read(void)
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{
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if (_sem_gnss->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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if (_new_data) {
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_new_data = false;
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state = _interm_state;
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_sem_gnss->give();
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return true;
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}
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_sem_gnss->give();
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}
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return false;
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}
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void AP_GPS_UAVCAN::handle_gnss_msg(const AP_GPS::GPS_State &msg)
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{
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if (_sem_gnss->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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_interm_state = msg;
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_new_data = true;
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_sem_gnss->give();
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}
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}
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#endif // HAL_WITH_UAVCAN
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