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75 lines
1.8 KiB
75 lines
1.8 KiB
#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT |
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#include <unistd.h> |
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#include <stdio.h> |
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#include "AP_Baro_qflight.h" |
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#include <AP_HAL_Linux/qflight/qflight_util.h> |
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#include <AP_HAL_Linux/qflight/qflight_dsp.h> |
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extern const AP_HAL::HAL& hal; |
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/* |
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constructor - opens the QFLIGHT drivers |
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*/ |
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AP_Baro_QFLIGHT::AP_Baro_QFLIGHT(AP_Baro &baro) : |
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AP_Baro_Backend(baro) |
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{ |
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instance = _frontend.register_sensor(); |
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Baro_QFLIGHT::timer_update, void)); |
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hal.scheduler->delay(100); |
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} |
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// Read the sensor |
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void AP_Baro_QFLIGHT::timer_update(void) |
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{ |
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uint32_t now = AP_HAL::millis(); |
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if (now - last_check_ms < 25) { |
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return; |
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} |
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last_check_ms = now; |
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if (barobuf == nullptr) { |
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barobuf = QFLIGHT_RPC_ALLOCATE(DSPBuffer::BARO); |
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if (barobuf == nullptr) { |
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AP_HAL::panic("Unable to allocate baro buffer"); |
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} |
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} |
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int ret = qflight_get_baro_data((uint8_t *)barobuf, sizeof(*barobuf)); |
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if (ret != 0) { |
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return; |
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} |
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if (!_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { |
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return; |
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} |
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for (uint16_t i=0; i<barobuf->num_samples; i++) { |
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DSPBuffer::BARO::BUF &b = barobuf->buf[i]; |
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pressure_sum += b.pressure_pa; |
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temperature_sum += b.temperature_C; |
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sum_count++; |
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} |
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_sem->give(); |
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} |
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// Read the sensor |
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void AP_Baro_QFLIGHT::update(void) |
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{ |
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if (!_sem->take_nonblocking()) { |
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return; |
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} |
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if (sum_count > 0) { |
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_copy_to_frontend(instance, |
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pressure_sum/sum_count, |
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temperature_sum/sum_count); |
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sum_count = 0; |
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pressure_sum = 0; |
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temperature_sum = 0; |
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} |
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_sem->give(); |
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} |
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#endif // CONFIG_HAL_BOARD_SUBTYPE |
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