肇庆搞产品网站的公司,交换友情链接推广法,作图神器,seo职业规划ArduPilot开源飞控之AP_Baro_MSP 1. 源由2. back-end抽象类3. 方法实现3.1 AP_Baro_MSP3.2 update3.3 handle_msp3.4 MSP UART port 4. 参考资料 1. 源由
鉴于ArduPilot开源飞控之AP_Baro中涉及Sensor Driver有以下总线类型#xff1a;
I2CSerial UARTCANSITL //模拟传感器(… ArduPilot开源飞控之AP_Baro_MSP 1. 源由2. back-end抽象类3. 方法实现3.1 AP_Baro_MSP3.2 update3.3 handle_msp3.4 MSP UART port 4. 参考资料 1. 源由
鉴于ArduPilot开源飞控之AP_Baro中涉及Sensor Driver有以下总线类型
I2CSerial UARTCANSITL //模拟传感器(暂时并列放在这里)
ArduPilot之开源代码Sensor Drivers设计的front-end / back-end分层设计思路AP_Baro主要描述的是front-end。
为了更好的从整体理解气压计这个传感器的嵌入式应用这里深入到back-end驱动层针对基于MSP协议的气压计设备进行一个研读和理解。
2. back-end抽象类
AP_Baro_Backend驱动层需实现方法
void update()static AP_Baro_Backend *probe(AP_Baro baro, AP_HAL::OwnPtrAP_HAL::Device dev)
注通常来说使用ChibiOS的都有定时器如果没有定时器可以使用void accumulate(void)来实现传感器的数据定时获取。
class AP_Baro_Backend
{
public:AP_Baro_Backend(AP_Baro baro);virtual ~AP_Baro_Backend(void) {};// each driver must provide an update method to copy accumulated// data to the frontendvirtual void update() 0;// accumulate function. This is used for backends that dont use a// timer, and need to be called regularly by the main code to// trigger them to read the sensorvirtual void accumulate(void) {}void backend_update(uint8_t instance);// Check that the baro valid by using a mean filter.// If the value further that filtrer_range from mean value, it is rejected.bool pressure_ok(float press);uint32_t get_error_count() const { return _error_count; }#if AP_BARO_MSP_ENABLEDvirtual void handle_msp(const MSP::msp_baro_data_message_t pkt) {}
#endif#if AP_BARO_EXTERNALAHRS_ENABLEDvirtual void handle_external(const AP_ExternalAHRS::baro_data_message_t pkt) {}
#endif/*device driver IDs. These are used to fill in the devtype fieldof the device ID, which shows up as BARO_DEVID* parameters tousers.*/enum DevTypes {DEVTYPE_BARO_SITL 0x01,DEVTYPE_BARO_BMP085 0x02,DEVTYPE_BARO_BMP280 0x03,DEVTYPE_BARO_BMP388 0x04,DEVTYPE_BARO_DPS280 0x05,DEVTYPE_BARO_DPS310 0x06,DEVTYPE_BARO_FBM320 0x07,DEVTYPE_BARO_ICM20789 0x08,DEVTYPE_BARO_KELLERLD 0x09,DEVTYPE_BARO_LPS2XH 0x0A,DEVTYPE_BARO_MS5611 0x0B,DEVTYPE_BARO_SPL06 0x0C,DEVTYPE_BARO_UAVCAN 0x0D,DEVTYPE_BARO_MSP 0x0E,DEVTYPE_BARO_ICP101XX 0x0F,DEVTYPE_BARO_ICP201XX 0x10,DEVTYPE_BARO_MS5607 0x11,DEVTYPE_BARO_MS5837 0x12,DEVTYPE_BARO_MS5637 0x13,DEVTYPE_BARO_BMP390 0x14,};protected:// reference to frontend objectAP_Baro _frontend;void _copy_to_frontend(uint8_t instance, float pressure, float temperature);// semaphore for access to shared frontend dataHAL_Semaphore _sem;virtual void update_healthy_flag(uint8_t instance);// mean pressure for range filterfloat _mean_pressure; // number of dropped samples. Not used for now, but can be usable to choose more reliable sensoruint32_t _error_count;// set bus ID of this instance, for BARO_DEVID parametersvoid set_bus_id(uint8_t instance, uint32_t id) {_frontend.sensors[instance].bus_id.set(int32_t(id));}
};3. 方法实现
由于气压数据来自串口因此其逻辑相对简单没有校准等复杂物理公式。
3.1 AP_Baro_MSP
实例初始化。
AP_Baro_MSP::AP_Baro_MSP├── msp_instance _msp_instance;├── instance _frontend.register_sensor();└── set_bus_id(instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP,0,msp_instance,0));3.2 update
front-end / back-end数据更新。
AP_Baro_MSP::update└── count├── WITH_SEMAPHORE(_sem);├── _copy_to_frontend(instance, sum_pressure/count, sum_temp/count);├── sum_pressure sum_temp 0;└── count 0;3.3 handle_msp
处理MSP协议中气压数据。
AP_Baro_MSP::handle_msp├── pkt.instance ! msp_instance // not for us│ └── return;├── WITH_SEMAPHORE(_sem);├── sum_pressure pkt.pressure_pa;├── sum_temp pkt.temp*0.01;└── count;typedef struct PACKED {uint8_t instance;uint32_t time_ms;float pressure_pa;int16_t temp; // centi-degrees C
} msp_baro_data_message_t;3.4 MSP UART port
满足MSP协议格式参考BetaFlight模块设计之三十二MSP协议模块分析
AP_Vehicle::setup└── AP_MSP::init└── AP_MSP::loop //thread_create└── AP_MSP_Telem_Backend::process_incoming_data└── AP_MSP_Telem_Backend::msp_process_received_command└── AP_MSP_Telem_Backend::msp_process_command└── AP_MSP_Telem_Backend::msp_process_sensor_command└── AP_MSP_Telem_Backend::msp_handle_baro└── AP_Baro::handle_msp└── AP_Baro_MSP::handle_msp4. 参考资料
【1】ArduPilot开源飞控系统之简单介绍 【2】ArduPilot之开源代码Task介绍 【3】ArduPilot飞控启动运行过程简介 【4】ArduPilot之开源代码LibrarySketches设计 【5】ArduPilot之开源代码Sensor Drivers设计
