baro.cpp

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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#include <drivers/drv_hrt.h>
#include "baro.hpp"
#include <math.h>

const char *const UavcanBarometerBridge::NAME = "baro";

UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode &node) :
    UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_BASE_DEVICE_PATH, ORB_ID(sensor_baro)),
    _sub_air_pressure_data(node),
    _sub_air_temperature_data(node)
{ }

int UavcanBarometerBridge::init()
{
    int res = device::CDev::init();

    if (res < 0) {
        return res;
    }

    res = _sub_air_pressure_data.start(AirPressureCbBinder(this, &UavcanBarometerBridge::air_pressure_sub_cb));

    if (res < 0) {
        DEVICE_LOG("failed to start uavcan sub: %d", res);
        return res;
    }

    res = _sub_air_temperature_data.start(AirTemperatureCbBinder(this, &UavcanBarometerBridge::air_temperature_sub_cb));

    if (res < 0) {
        DEVICE_LOG("failed to start uavcan sub: %d", res);
        return res;
    }

    return 0;
}

void
UavcanBarometerBridge::air_temperature_sub_cb(const
        uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &msg)
{
    last_temperature_kelvin = msg.static_temperature;
}

void
UavcanBarometerBridge::air_pressure_sub_cb(const
        uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticPressure> &msg)
{
    sensor_baro_s report{};

    /*
     * FIXME HACK
     * This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
     * It stopped working when the time sync feature has been introduced, because it caused libuavcan
     * to use an independent time source (based on hardware TIM5) instead of HRT.
     * The proper solution is to be developed.
     */
    report.timestamp   = hrt_absolute_time();
    report.temperature = last_temperature_kelvin - 273.15F;
    report.pressure    = msg.static_pressure / 100.0F;  // Convert to millibar
    report.error_count = 0;

    /* TODO get device ID for sensor */
    report.device_id = 0;

    publish(msg.getSrcNodeID().get(), &report);
}