You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
74 lines
2.0 KiB
74 lines
2.0 KiB
#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(HAL_SEMAPHORE_BLOCK_FOREVER)) { |
|
_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(HAL_SEMAPHORE_BLOCK_FOREVER)) { |
|
_pressure = pressure; |
|
_temperature = temperature - 273.15f; |
|
_last_timestamp = AP_HAL::micros64(); |
|
_sem_baro->give(); |
|
} |
|
} |
|
|
|
#endif // HAL_WITH_UAVCAN |
|
|
|
|