Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include "AP_RPM_config.h"
      17             : 
      18             : #if AP_RPM_DRONECAN_ENABLED
      19             : 
      20             : #include "RPM_DroneCAN.h"
      21             : #include <AP_BoardConfig/AP_BoardConfig.h>
      22             : 
      23             : AP_RPM_DroneCAN* AP_RPM_DroneCAN::_drivers[];
      24             : uint8_t AP_RPM_DroneCAN::_driver_instance;
      25             : HAL_Semaphore AP_RPM_DroneCAN::_driver_sem;
      26             : 
      27           0 : AP_RPM_DroneCAN::AP_RPM_DroneCAN(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state) :
      28           0 :     AP_RPM_Backend(_ap_rpm, instance, _state)
      29             : {
      30             :     // Register self in static driver list
      31           0 :     WITH_SEMAPHORE(_driver_sem);
      32           0 :     _drivers[_driver_instance] = this;
      33           0 :     _driver_instance++;
      34           0 : }
      35             : 
      36             : // Subscribe to incoming rpm messages
      37           5 : bool AP_RPM_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
      38             : {
      39           5 :     const auto driver_index = ap_dronecan->get_driver_index();
      40             : 
      41           5 :     return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_rpm, driver_index) != nullptr);
      42             : }
      43             : 
      44             : // Receive new CAN message
      45           0 : void AP_RPM_DroneCAN::handle_rpm(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_rpm_RPM &msg)
      46             : {
      47           0 :     WITH_SEMAPHORE(_driver_sem);
      48             : 
      49           0 :     for (uint8_t i = 0; i < _driver_instance; i++) {
      50           0 :         if (_drivers[i] == nullptr) {
      51           0 :             continue;
      52             :         }
      53             :         // Find params for this instance
      54           0 :         const uint8_t instance = _drivers[i]->state.instance;
      55           0 :         const AP_RPM_Params& params = _drivers[i]->ap_rpm._params[instance];
      56             : 
      57           0 :         if (params.dronecan_sensor_id == msg.sensor_id) {
      58             :             // Driver loaded and looking for this ID, add reading
      59           0 :             _drivers[i]->last_reading_ms = AP_HAL::millis();
      60           0 :             _drivers[i]->rpm = msg.rpm * params.scaling;
      61             : 
      62           0 :             const bool heathy = (msg.flags & DRONECAN_SENSORS_RPM_RPM_FLAGS_UNHEALTHY) == 0;
      63           0 :             _drivers[i]->signal_quality = heathy ? 0.5 : 0.0;
      64             :         }
      65             :     }
      66           0 : }
      67             : 
      68           0 : void AP_RPM_DroneCAN::update(void)
      69             : {
      70           0 :     WITH_SEMAPHORE(_driver_sem);
      71             : 
      72             :     // Update state from temporay variables
      73           0 :     state.last_reading_ms = last_reading_ms;
      74           0 :     state.signal_quality = signal_quality;
      75           0 :     state.rate_rpm = rpm;
      76             : 
      77             :     // assume we get readings at at least 1Hz, otherwise reset quality to zero
      78           0 :     if ((AP_HAL::millis() - state.last_reading_ms) > 1000) {
      79           0 :         state.signal_quality = 0;
      80           0 :         state.rate_rpm = 0;
      81             :     }
      82           0 : }
      83             : 
      84             : #endif // AP_RPM_DRONECAN_ENABLED