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AP_GPS: rename more variables, types and defines

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This commit is contained in:
Andrew Tridgell 2023-04-08 14:09:10 +10:00
parent 5e52175399
commit 645fd82507
4 changed files with 67 additions and 67 deletions
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14
libraries/AP_GPS/AP_GPS.cpp
View File

@ -41,7 +41,7 @@
#include "AP_GPS_SITL.h"
#endif
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if HAL_ENABLE_DRONECAN_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
#include "AP_GPS_DroneCAN.h"
@ -384,7 +384,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
AP_GROUPINFO("_PRIMARY", 27, AP_GPS, _primary, 0),
#endif
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if HAL_ENABLE_DRONECAN_DRIVERS
// @Param: _CAN_NODEID1
// @DisplayName: GPS Node ID 1
// @Description: GPS Node id for first-discovered GPS.
@ -413,7 +413,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @User: Advanced
AP_GROUPINFO("2_CAN_OVRIDE", 31, AP_GPS, _override_node_id[1], 0),
#endif // GPS_MAX_RECEIVERS > 1
#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
#endif // HAL_ENABLE_DRONECAN_DRIVERS
AP_GROUPEND
};
@ -706,9 +706,9 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
case GPS_TYPE_UAVCAN:
case GPS_TYPE_UAVCAN_RTK_BASE:
case GPS_TYPE_UAVCAN_RTK_ROVER:
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if HAL_ENABLE_DRONECAN_DRIVERS
dstate->auto_detected_baud = false; // specified, not detected
return AP_GPS_UAVCAN::probe(*this, state[instance]);
return AP_GPS_DroneCAN::probe(*this, state[instance]);
#endif
return nullptr; // We don't do anything here if UAVCAN is not supported
#if HAL_MSP_GPS_ENABLED
@ -2119,11 +2119,11 @@ bool AP_GPS::prepare_for_arming(void) {
bool AP_GPS::backends_healthy(char failure_msg[], uint16_t failure_msg_len) {
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if HAL_ENABLE_DRONECAN_DRIVERS
if (_type[i] == GPS_TYPE_UAVCAN ||
_type[i] == GPS_TYPE_UAVCAN_RTK_BASE ||
_type[i] == GPS_TYPE_UAVCAN_RTK_ROVER) {
if (!AP_GPS_UAVCAN::backends_healthy(failure_msg, failure_msg_len)) {
if (!AP_GPS_DroneCAN::backends_healthy(failure_msg, failure_msg_len)) {
return false;
}
}

4
libraries/AP_GPS/AP_GPS.h
View File

@ -86,7 +86,7 @@ class AP_GPS
friend class AP_GPS_SIRF;
friend class AP_GPS_UBLOX;
friend class AP_GPS_Backend;
friend class AP_GPS_UAVCAN;
friend class AP_GPS_DroneCAN;
public:
AP_GPS();
@ -593,7 +593,7 @@ protected:
AP_Float _blend_tc;
AP_Int16 _driver_options;
AP_Int8 _primary;
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if HAL_ENABLE_DRONECAN_DRIVERS
AP_Int32 _node_id[GPS_MAX_RECEIVERS];
AP_Int32 _override_node_id[GPS_MAX_RECEIVERS];
#endif

104
libraries/AP_GPS/AP_GPS_DroneCAN.cpp
View File

@ -18,7 +18,7 @@
//
#include <AP_HAL/AP_HAL.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if HAL_ENABLE_DRONECAN_DRIVERS
#include "AP_GPS_DroneCAN.h"
#include <AP_CANManager/AP_CANManager.h>
@ -56,21 +56,21 @@ extern const AP_HAL::HAL& hal;
#else
#define NATIVE_TIME_OFFSET 0
#endif
AP_GPS_UAVCAN::DetectedModules AP_GPS_UAVCAN::_detected_modules[];
HAL_Semaphore AP_GPS_UAVCAN::_sem_registry;
AP_GPS_DroneCAN::DetectedModules AP_GPS_DroneCAN::_detected_modules[];
HAL_Semaphore AP_GPS_DroneCAN::_sem_registry;
// Member Methods
AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_GPS::GPS_Role _role) :
AP_GPS_DroneCAN::AP_GPS_DroneCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_GPS::GPS_Role _role) :
AP_GPS_Backend(_gps, _state, nullptr),
interim_state(_state),
role(_role)
{
param_int_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_get_set_response_int, bool, AP_DroneCAN*, const uint8_t, const char*, int32_t &);
param_float_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_get_set_response_float, bool, AP_DroneCAN*, const uint8_t, const char*, float &);
param_save_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_save_response, void, AP_DroneCAN*, const uint8_t, bool);
param_int_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_DroneCAN::handle_param_get_set_response_int, bool, AP_DroneCAN*, const uint8_t, const char*, int32_t &);
param_float_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_DroneCAN::handle_param_get_set_response_float, bool, AP_DroneCAN*, const uint8_t, const char*, float &);
param_save_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_DroneCAN::handle_param_save_response, void, AP_DroneCAN*, const uint8_t, bool);
}
AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
AP_GPS_DroneCAN::~AP_GPS_DroneCAN()
{
WITH_SEMAPHORE(_sem_registry);
@ -83,7 +83,7 @@ AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
#endif
}
void AP_GPS_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
void AP_GPS_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_dronecan == nullptr) {
return;
@ -115,11 +115,11 @@ void AP_GPS_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
#endif
}
AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
AP_GPS_Backend* AP_GPS_DroneCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
{
WITH_SEMAPHORE(_sem_registry);
int8_t found_match = -1, last_match = -1;
AP_GPS_UAVCAN* backend = nullptr;
AP_GPS_DroneCAN* backend = nullptr;
bool bad_override_config = false;
for (int8_t i = GPS_MAX_RECEIVERS - 1; i >= 0; i--) {
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) {
@ -164,14 +164,14 @@ AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
// initialise the backend based on the UAVCAN Moving baseline selection
switch (_gps.get_type(_state.instance)) {
case AP_GPS::GPS_TYPE_UAVCAN:
backend = new AP_GPS_UAVCAN(_gps, _state, AP_GPS::GPS_ROLE_NORMAL);
backend = new AP_GPS_DroneCAN(_gps, _state, AP_GPS::GPS_ROLE_NORMAL);
break;
#if GPS_MOVING_BASELINE
case AP_GPS::GPS_TYPE_UAVCAN_RTK_BASE:
backend = new AP_GPS_UAVCAN(_gps, _state, AP_GPS::GPS_ROLE_MB_BASE);
backend = new AP_GPS_DroneCAN(_gps, _state, AP_GPS::GPS_ROLE_MB_BASE);
break;
case AP_GPS::GPS_TYPE_UAVCAN_RTK_ROVER:
backend = new AP_GPS_UAVCAN(_gps, _state, AP_GPS::GPS_ROLE_MB_ROVER);
backend = new AP_GPS_DroneCAN(_gps, _state, AP_GPS::GPS_ROLE_MB_ROVER);
break;
#endif
default:
@ -219,7 +219,7 @@ AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
return backend;
}
bool AP_GPS_UAVCAN::backends_healthy(char failure_msg[], uint16_t failure_msg_len)
bool AP_GPS_DroneCAN::backends_healthy(char failure_msg[], uint16_t failure_msg_len)
{
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
bool overriden_node_found = false;
@ -254,7 +254,7 @@ bool AP_GPS_UAVCAN::backends_healthy(char failure_msg[], uint16_t failure_msg_le
return true;
}
AP_GPS_UAVCAN* AP_GPS_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
AP_GPS_DroneCAN* AP_GPS_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
{
if (ap_dronecan == nullptr) {
return nullptr;
@ -316,7 +316,7 @@ AP_GPS_UAVCAN* AP_GPS_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8
/*
handle velocity element of message
*/
void AP_GPS_UAVCAN::handle_velocity(const float vx, const float vy, const float vz)
void AP_GPS_DroneCAN::handle_velocity(const float vx, const float vy, const float vz)
{
if (!isnanf(vx)) {
const Vector3f vel(vx, vy, vz);
@ -333,7 +333,7 @@ void AP_GPS_UAVCAN::handle_velocity(const float vx, const float vy, const float
}
}
void AP_GPS_UAVCAN::handle_fix2_msg(const uavcan_equipment_gnss_Fix2& msg, uint64_t timestamp_usec)
void AP_GPS_DroneCAN::handle_fix2_msg(const uavcan_equipment_gnss_Fix2& msg, uint64_t timestamp_usec)
{
bool process = false;
seen_fix2 = true;
@ -472,7 +472,7 @@ void AP_GPS_UAVCAN::handle_fix2_msg(const uavcan_equipment_gnss_Fix2& msg, uint6
}
}
void AP_GPS_UAVCAN::handle_aux_msg(const uavcan_equipment_gnss_Auxiliary& msg)
void AP_GPS_DroneCAN::handle_aux_msg(const uavcan_equipment_gnss_Auxiliary& msg)
{
WITH_SEMAPHORE(sem);
@ -487,7 +487,7 @@ void AP_GPS_UAVCAN::handle_aux_msg(const uavcan_equipment_gnss_Auxiliary& msg)
}
}
void AP_GPS_UAVCAN::handle_heading_msg(const ardupilot_gnss_Heading& msg)
void AP_GPS_DroneCAN::handle_heading_msg(const ardupilot_gnss_Heading& msg)
{
#if GPS_MOVING_BASELINE
if (seen_relposheading && gps.mb_params[interim_state.instance].type.get() != 0) {
@ -513,7 +513,7 @@ void AP_GPS_UAVCAN::handle_heading_msg(const ardupilot_gnss_Heading& msg)
interim_state.gps_yaw_accuracy = degrees(msg.heading_accuracy_rad);
}
void AP_GPS_UAVCAN::handle_status_msg(const ardupilot_gnss_Status& msg)
void AP_GPS_DroneCAN::handle_status_msg(const ardupilot_gnss_Status& msg)
{
WITH_SEMAPHORE(sem);
@ -534,7 +534,7 @@ void AP_GPS_UAVCAN::handle_status_msg(const ardupilot_gnss_Status& msg)
/*
handle moving baseline data.
*/
void AP_GPS_UAVCAN::handle_moving_baseline_msg(const ardupilot_gnss_MovingBaselineData& msg, uint8_t node_id)
void AP_GPS_DroneCAN::handle_moving_baseline_msg(const ardupilot_gnss_MovingBaselineData& msg, uint8_t node_id)
{
WITH_SEMAPHORE(sem);
if (role != AP_GPS::GPS_ROLE_MB_BASE) {
@ -553,7 +553,7 @@ void AP_GPS_UAVCAN::handle_moving_baseline_msg(const ardupilot_gnss_MovingBaseli
/*
handle relposheading message
*/
void AP_GPS_UAVCAN::handle_relposheading_msg(const ardupilot_gnss_RelPosHeading& msg, uint8_t node_id)
void AP_GPS_DroneCAN::handle_relposheading_msg(const ardupilot_gnss_RelPosHeading& msg, uint8_t node_id)
{
WITH_SEMAPHORE(sem);
@ -572,7 +572,7 @@ void AP_GPS_UAVCAN::handle_relposheading_msg(const ardupilot_gnss_RelPosHeading&
}
// support for retrieving RTCMv3 data from a moving baseline base
bool AP_GPS_UAVCAN::get_RTCMV3(const uint8_t *&bytes, uint16_t &len)
bool AP_GPS_DroneCAN::get_RTCMV3(const uint8_t *&bytes, uint16_t &len)
{
WITH_SEMAPHORE(sem);
if (rtcm3_parser != nullptr) {
@ -583,7 +583,7 @@ bool AP_GPS_UAVCAN::get_RTCMV3(const uint8_t *&bytes, uint16_t &len)
}
// clear previous RTCM3 packet
void AP_GPS_UAVCAN::clear_RTCMV3(void)
void AP_GPS_DroneCAN::clear_RTCMV3(void)
{
WITH_SEMAPHORE(sem);
if (rtcm3_parser != nullptr) {
@ -593,41 +593,41 @@ void AP_GPS_UAVCAN::clear_RTCMV3(void)
#endif // GPS_MOVING_BASELINE
void AP_GPS_UAVCAN::handle_fix2_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Fix2& msg)
void AP_GPS_DroneCAN::handle_fix2_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Fix2& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_fix2_msg(msg, transfer.timestamp_usec);
}
}
void AP_GPS_UAVCAN::handle_aux_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Auxiliary& msg)
void AP_GPS_DroneCAN::handle_aux_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Auxiliary& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_aux_msg(msg);
}
}
void AP_GPS_UAVCAN::handle_heading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Heading& msg)
void AP_GPS_DroneCAN::handle_heading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Heading& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_heading_msg(msg);
}
}
void AP_GPS_UAVCAN::handle_status_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Status& msg)
void AP_GPS_DroneCAN::handle_status_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Status& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_status_msg(msg);
}
@ -635,27 +635,27 @@ void AP_GPS_UAVCAN::handle_status_msg_trampoline(AP_DroneCAN *ap_dronecan, const
#if GPS_MOVING_BASELINE
// Moving Baseline msg trampoline
void AP_GPS_UAVCAN::handle_moving_baseline_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_MovingBaselineData& msg)
void AP_GPS_DroneCAN::handle_moving_baseline_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_MovingBaselineData& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_moving_baseline_msg(msg, transfer.source_node_id);
}
}
// RelPosHeading msg trampoline
void AP_GPS_UAVCAN::handle_relposheading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_RelPosHeading& msg)
void AP_GPS_DroneCAN::handle_relposheading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_RelPosHeading& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_relposheading_msg(msg, transfer.source_node_id);
}
}
#endif
bool AP_GPS_UAVCAN::do_config()
bool AP_GPS_DroneCAN::do_config()
{
AP_DroneCAN *ap_dronecan = _detected_modules[_detected_module].ap_dronecan;
if (ap_dronecan == nullptr) {
@ -690,7 +690,7 @@ bool AP_GPS_UAVCAN::do_config()
}
// Consume new data and mark it received
bool AP_GPS_UAVCAN::read(void)
bool AP_GPS_DroneCAN::read(void)
{
if (gps._auto_config >= AP_GPS::GPS_AUTO_CONFIG_ENABLE_ALL) {
if (!do_config()) {
@ -726,7 +726,7 @@ bool AP_GPS_UAVCAN::read(void)
return false;
}
bool AP_GPS_UAVCAN::is_healthy(void) const
bool AP_GPS_DroneCAN::is_healthy(void) const
{
// if we don't have any health reports, assume it's healthy
if (!seen_status) {
@ -735,7 +735,7 @@ bool AP_GPS_UAVCAN::is_healthy(void) const
return healthy;
}
bool AP_GPS_UAVCAN::logging_healthy(void) const
bool AP_GPS_DroneCAN::logging_healthy(void) const
{
// if we don't have status, assume it's valid
if (!seen_status) {
@ -745,7 +745,7 @@ bool AP_GPS_UAVCAN::logging_healthy(void) const
return (status_flags & ARDUPILOT_GNSS_STATUS_STATUS_LOGGING) != 0;
}
bool AP_GPS_UAVCAN::is_configured(void) const
bool AP_GPS_DroneCAN::is_configured(void) const
{
// if we don't have status assume it's configured
if (!seen_status) {
@ -758,7 +758,7 @@ bool AP_GPS_UAVCAN::is_configured(void) const
/*
handle RTCM data from MAVLink GPS_RTCM_DATA, forwarding it over MAVLink
*/
void AP_GPS_UAVCAN::inject_data(const uint8_t *data, uint16_t len)
void AP_GPS_DroneCAN::inject_data(const uint8_t *data, uint16_t len)
{
// we only handle this if we are the first UAVCAN GPS or we are
// using a different uavcan instance than the first GPS, as we
@ -773,9 +773,9 @@ void AP_GPS_UAVCAN::inject_data(const uint8_t *data, uint16_t len)
/*
handle param get/set response
*/
bool AP_GPS_UAVCAN::handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan, uint8_t node_id, const char* name, int32_t &value)
bool AP_GPS_DroneCAN::handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan, uint8_t node_id, const char* name, int32_t &value)
{
Debug("AP_GPS_UAVCAN: param set/get response from %d %s %ld\n", node_id, name, value);
Debug("AP_GPS_DroneCAN: param set/get response from %d %s %ld\n", node_id, name, value);
if (strcmp(name, "GPS_TYPE") == 0 && cfg_step == STEP_SET_TYPE) {
if (role == AP_GPS::GPS_ROLE_MB_BASE && value != AP_GPS::GPS_TYPE_UBLOX_RTK_BASE) {
value = (int32_t)AP_GPS::GPS_TYPE_UBLOX_RTK_BASE;
@ -810,15 +810,15 @@ bool AP_GPS_UAVCAN::handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan,
return false;
}
bool AP_GPS_UAVCAN::handle_param_get_set_response_float(AP_DroneCAN* ap_dronecan, uint8_t node_id, const char* name, float &value)
bool AP_GPS_DroneCAN::handle_param_get_set_response_float(AP_DroneCAN* ap_dronecan, uint8_t node_id, const char* name, float &value)
{
Debug("AP_GPS_UAVCAN: param set/get response from %d %s %f\n", node_id, name, value);
Debug("AP_GPS_DroneCAN: param set/get response from %d %s %f\n", node_id, name, value);
return false;
}
void AP_GPS_UAVCAN::handle_param_save_response(AP_DroneCAN* ap_dronecan, const uint8_t node_id, bool success)
void AP_GPS_DroneCAN::handle_param_save_response(AP_DroneCAN* ap_dronecan, const uint8_t node_id, bool success)
{
Debug("AP_GPS_UAVCAN: param save response from %d %s\n", node_id, success ? "success" : "failure");
Debug("AP_GPS_DroneCAN: param save response from %d %s\n", node_id, success ? "success" : "failure");
if (cfg_step != STEP_SAVE_AND_REBOOT) {
return;
@ -829,12 +829,12 @@ void AP_GPS_UAVCAN::handle_param_save_response(AP_DroneCAN* ap_dronecan, const u
}
// Also send reboot command
// this is ok as we are sending from UAVCAN thread context
Debug("AP_GPS_UAVCAN: sending reboot command %d\n", node_id);
Debug("AP_GPS_DroneCAN: sending reboot command %d\n", node_id);
ap_dronecan->send_reboot_request(node_id);
}
#if AP_DRONECAN_SEND_GPS
bool AP_GPS_UAVCAN::instance_exists(const AP_DroneCAN* ap_dronecan)
bool AP_GPS_DroneCAN::instance_exists(const AP_DroneCAN* ap_dronecan)
{
for (uint8_t i=0; i<ARRAY_SIZE(_detected_modules); i++) {
if (ap_dronecan == _detected_modules[i].ap_dronecan) {
@ -845,4 +845,4 @@ bool AP_GPS_UAVCAN::instance_exists(const AP_DroneCAN* ap_dronecan)
}
#endif // AP_DRONECAN_SEND_GPS
#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
#endif // HAL_ENABLE_DRONECAN_DRIVERS

12
libraries/AP_GPS/AP_GPS_DroneCAN.h
View File

@ -20,16 +20,16 @@
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if HAL_ENABLE_DRONECAN_DRIVERS
#include "AP_GPS.h"
#include "GPS_Backend.h"
#include "RTCM3_Parser.h"
#include <AP_DroneCAN/AP_DroneCAN.h>
class AP_GPS_UAVCAN : public AP_GPS_Backend {
class AP_GPS_DroneCAN : public AP_GPS_Backend {
public:
AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_GPS::GPS_Role role);
~AP_GPS_UAVCAN();
AP_GPS_DroneCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_GPS::GPS_Role role);
~AP_GPS_DroneCAN();
bool read() override;
@ -95,7 +95,7 @@ private:
static bool take_registry();
static void give_registry();
static AP_GPS_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
static AP_GPS_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
bool _new_data;
AP_GPS::GPS_State interim_state;
@ -119,7 +119,7 @@ private:
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
uint8_t instance;
AP_GPS_UAVCAN* driver;
AP_GPS_DroneCAN* driver;
} _detected_modules[GPS_MAX_RECEIVERS];
static HAL_Semaphore _sem_registry;