mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-02 10:23:25 +08:00
Peter BarkerandClaude Opus 4.8
ef0e687530
The buzzer, sprayer, both grippers, parachute, precland, i2c and DroneCAN-test sims are all owned by SITL::SIM (each carrying its SIM_* parameters where it has them), and the aircraft model already holds the SITL::SIM singleton and uses it directly for the physics models (e.g. sitl->models.slung_payload_sim). Reach these sims the same way instead of injecting a raw pointer into the aircraft from SITL_State. Removes set_buzzer()/set_sprayer()/set_gripper_servo()/set_gripper_epm()/ set_parachute()/set_precland()/set_i2c()/set_dronecan_device(), their cached pointers and the SITL_State wiring, and updates each sim straight from sitl->xxx_sim in update_external_payload(). For precland the home-based beacon seeding (set_default_location, which is idempotent) moves into update_external_payload() ahead of the enable check, so it keeps running for the IRLock / PrecLand SITL backends that consume the sim directly. The simulated i2c bus now sets up its device table itself: I2C::init() is self-guarded and called lazily from the top of update() and ioctl() (either may run first), so the previous explicit i2c_sim.init() calls in SITL_State and SITL_Periph_State are gone and the bus needs no external setup. The DroneCAN device sim stays behind AP_TEST_DRONECAN_DRIVERS as before; only the vehicle SITL state ever drove it, and update_external_payload() (which is only run by the vehicle model, not AP_Periph's SimMCast) now calls sitl->dronecan_sim.update() directly. No functional change: the AP_Periph SITL model (SimMCast) never ran the external payload update, so it never drove these sims, and still doesn't. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
300 lines
8.5 KiB
C++
300 lines
8.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulated i2c buses and devices
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*/
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#include "SIM_config.h"
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#include <GCS_MAVLink/GCS.h>
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#include <SITL/SITL.h>
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#include "SIM_I2C.h"
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#include "SIM_Airspeed_DLVR.h"
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#include "SIM_AS5600.h"
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#include "SIM_BattMonitor_SMBus_Generic.h"
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#include "SIM_BattMonitor_SMBus_Maxell.h"
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#include "SIM_BattMonitor_SMBus_Rotoye.h"
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#include "SIM_ICM40609.h"
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#include "SIM_INA3221.h"
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#include "SIM_IS31FL3195.h"
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#include "SIM_RF_LightWareI2C_Legacy16Bit.h"
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#include "SIM_RF_TOFSenseF_I2C.h"
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#include "SIM_RF_LightWare_GRF_I2C.h"
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#include "SIM_LM2755.h"
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#include "SIM_LP5562.h"
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#include "SIM_MaxSonarI2CXL.h"
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#include "SIM_MS5525.h"
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#include "SIM_MS5611.h"
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#include "SIM_QMC5883L.h"
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#include "SIM_RF_Benewake_TFMiniPlus.h"
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#include "SIM_Temperature_MCP9600.h"
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#include "SIM_Temperature_SHT3x.h"
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#include "SIM_Temperature_TSYS01.h"
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#include "SIM_Temperature_TSYS03.h"
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#include "SIM_TeraRangerI2C.h"
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#include "SIM_TFS20L.h"
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#include "SIM_ToshibaLED.h"
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#include <signal.h>
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using namespace SITL;
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enum class IOCtlType {
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RDWR = 0,
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};
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class IgnoredI2CDevice : public I2CDevice
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{
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public:
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override {
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return -1;
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}
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};
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static IgnoredI2CDevice ignored;
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#if AP_SIM_TOSHIBALED_ENABLED
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static ToshibaLED toshibaled;
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#endif
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#if AP_SIM_RF_LIGHTWAREI2C_LEGACY16BIT_ENABLED
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static LightWareI2C_Legacy16Bit lightwarei2c_legacy16bit;
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#endif // AP_SIM_RF_LIGHTWAREI2C_LEGACY16BIT_ENABLED
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#if AP_SIM_MAXSONAR_I2C_XL_ENABLED
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static MaxSonarI2CXL maxsonari2cxl;
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static MaxSonarI2CXL maxsonari2cxl_2;
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#endif
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#if AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED
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static Maxell maxell;
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#endif
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#if AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED
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static Rotoye rotoye;
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#endif
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static SIM_BattMonitor_SMBus_Generic smbus_generic;
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#if AP_SIM_AIRSPEED_DLVR_ENABLED
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static Airspeed_DLVR airspeed_dlvr;
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#endif
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#if AP_SIM_TEMPERATURE_SHT3X_ENABLED
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static SHT3x sht3x;
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#endif // AP_SIM_TEMPERATURE_SHT3X_ENABLED
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#if AP_SIM_TEMPERATURE_TSYS01_ENABLED
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static TSYS01 tsys01;
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#endif
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#if AP_SIM_TSYS03_ENABLED
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static TSYS03 tsys03;
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#endif
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#if AP_SIM_TEMPERATURE_MCP9600_ENABLED
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static MCP9600 mcp9600;
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#endif
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#if AP_SIM_ICM40609_ENABLED
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static ICM40609 icm40609;
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#endif
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#if AP_SIM_MS5525_ENABLED
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static MS5525 ms5525;
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#endif
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#if AP_SIM_MS5611_ENABLED
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static MS5611 ms5611;
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#endif
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#if AP_SIM_LP5562_ENABLED
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static LP5562 lp5562;
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#endif
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#if AP_SIM_LM2755_ENABLED
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static LM2755 lm2755;
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#endif
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#if AP_SIM_IS31FL3195_ENABLED
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static IS31FL3195 is31fl3195;
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#define SIM_IS31FL3195_ADDR 0x54
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#endif
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#if AP_SIM_COMPASS_QMC5883L_ENABLED
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static QMC5883L qmc5883l;
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#endif
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#if AP_SIM_RF_BENEWAKE_TFMINIPLUS_ENABLED
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static Benewake_TFMiniPlus benewake_tfminiplus;
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#endif // AP_SIM_RF_BENEWAKE_TFMINIPLUS_ENABLED
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#if AP_SIM_INA3221_ENABLED
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static INA3221 ina3221;
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#endif
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#if AP_SIM_TERARANGERI2C_ENABLED
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static TeraRangerI2C terarangeri2c;
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#endif
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#if AP_SIM_AS5600_ENABLED
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static AS5600 as5600; // AoA sensor
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#endif // AP_SIM_AS5600_ENABLED
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#if AP_SIM_TFS20L_ENABLED
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static TFS20L tfs20l; // Benewake TFS20L rangefinder
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#endif // AP_SIM_TFS20L_ENABLED
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#if AP_SIM_RF_TOFSENSEF_I2C_ENABLED
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static TOFSenseF_I2C tofsensef;
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#endif // AP_SIM_RF_TOFSENSEF_I2C_ENABLED
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#if AP_SIM_RF_LIGHTWARE_GRF_I2C_ENABLED
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static LightWareGRF_I2C lightware_grf_i2c;
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#endif // AP_SIM_RF_LIGHTWARE_GRF_I2C_ENABLED
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struct i2c_device_at_address {
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uint8_t bus;
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uint8_t addr;
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I2CDevice &device;
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} i2c_devices[] {
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#if AP_SIM_TERARANGERI2C_ENABLED
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{ 0, 0x31, terarangeri2c }, // RNGFNDx_TYPE = 14, RNGFNDx_ADDR = 49
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#endif // AP_SIM_TERARANGERI2C_ENABLED
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#if AP_SIM_RF_LIGHTWAREI2C_LEGACY16BIT_ENABLED
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{ 0, 0x66, lightwarei2c_legacy16bit }, // RNGFNDx_TYPE = 7, RNGFNDx_ADDR = 0x66
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#endif // AP_SIM_RF_LIGHTWAREI2C_LEGACY16BIT_ENABLED
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#if AP_SIM_MAXSONAR_I2C_XL_ENABLED
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{ 0, 0x70, maxsonari2cxl }, // RNGFNDx_TYPE = 2, RNGFNDx_ADDR = 112
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#endif
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#if AP_SIM_TEMPERATURE_MCP9600_ENABLED
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{ 0, 0x60, mcp9600 }, // 0x60 is low address
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#endif
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#if AP_SIM_MAXSONAR_I2C_XL_ENABLED
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{ 0, 0x71, maxsonari2cxl_2 }, // RNGFNDx_TYPE = 2, RNGFNDx_ADDR = 113
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#endif
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#if AP_SIM_ICM40609_ENABLED
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{ 1, 0x01, icm40609 },
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#endif
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#if AP_SIM_TEMPERATURE_SHT3X_ENABLED
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{ 1, 0x44, sht3x },
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#endif
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#if AP_SIM_TOSHIBALED_ENABLED
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{ 1, 0x55, toshibaled },
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#endif
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{ 1, 0x38, ignored }, // NCP5623
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{ 1, 0x39, ignored }, // NCP5623C
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#if AP_SIM_AS5600_ENABLED
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{ 1, 0x36, as5600 },
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#endif
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{ 1, 0x40, ignored }, // KellerLD
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#if AP_SIM_MS5525_ENABLED
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{ 1, 0x76, ms5525 }, // MS5525: ARSPD_TYPE = 4
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#endif
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#if AP_SIM_INA3221_ENABLED
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{ 1, 0x42, ina3221 },
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#endif
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#if AP_SIM_TEMPERATURE_TSYS01_ENABLED
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{ 1, 0x77, tsys01 },
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#endif
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#if AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED
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{ 1, 0x0B, rotoye }, // Rotoye: BATTx_MONITOR 19, BATTx_I2C_ADDR 13
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#endif
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#if AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED
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{ 2, 0x0B, maxell }, // Maxell: BATTx_MONITOR 16, BATTx_I2C_ADDR 13
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#endif
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{ 3, 0x0B, smbus_generic}, // BATTx_MONITOR 7, BATTx_I2C_ADDR 13
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#if AP_SIM_AIRSPEED_DLVR_ENABLED
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{ 2, 0x28, airspeed_dlvr }, // ARSPD_TYPE = 7 5inch H2O sensor
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#endif
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#if AP_SIM_LP5562_ENABLED
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{ 2, 0x30, lp5562 }, // LP5562 RGB LED driver
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#endif
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#if AP_SIM_LM2755_ENABLED
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{ 2, 0x67, lm2755 }, // LM2755 RGB LED driver
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#endif
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#if AP_SIM_IS31FL3195_ENABLED
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{ 2, SIM_IS31FL3195_ADDR, is31fl3195 }, // IS31FL3195 RGB LED driver; see page 9
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#endif
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#if AP_SIM_RF_BENEWAKE_TFMINIPLUS_ENABLED
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{ 2, 0x09, benewake_tfminiplus }, // TFMiniPlus rfnd, non-default-address
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#endif // AP_SIM_RF_BENEWAKE_TFMINIPLUS_ENABLED
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#if AP_SIM_TSYS03_ENABLED
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{ 2, 0x40, tsys03 },
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#endif
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#if AP_SIM_MS5611_ENABLED
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{ 2, 0x77, ms5611 }, // MS5611: BARO_PROBE_EXT = 2
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#endif
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#if AP_SIM_COMPASS_QMC5883L_ENABLED
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{ 2, 0x0D, qmc5883l },
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#endif
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#if AP_SIM_TFS20L_ENABLED
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{ 0, 0x10, tfs20l }, // RNGFNDx_TYPE = 46, RNGFNDx_ADDR = 0x10
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#endif // AP_SIM_TFS20L_ENABLED
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#if AP_SIM_RF_TOFSENSEF_I2C_ENABLED
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{ 0, 0x08, tofsensef }, // RNGFNDx_TYPE = 40, RNGFNDx_ADDR = 0x08
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#endif // AP_SIM_RF_TOFSENSEF_I2C_ENABLED
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#if AP_SIM_RF_LIGHTWARE_GRF_I2C_ENABLED
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{ 2, 0x66, lightware_grf_i2c }, // RNGFNDx_TYPE = 48, RNGFNDx_ADDR = 0x66
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#endif // AP_SIM_RF_LIGHTWARE_GRF_I2C_ENABLED
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};
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void I2C::init()
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{
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if (initialised) {
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return;
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}
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initialised = true;
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for (auto &i : i2c_devices) {
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i.device.init();
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}
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#if AP_SIM_IS31FL3195_ENABLED
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// IS31FL3195 needs to know its own address:
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is31fl3195.set_product_id(SIM_IS31FL3195_ADDR);
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#endif
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// sanity check the i2c_devices structure to ensure we don't have
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// two devices at the same address on the same bus:
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for (uint8_t i=0; i<ARRAY_SIZE(i2c_devices)-1; i++) {
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const auto &dev_i = i2c_devices[i];
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for (uint8_t j=i+1; j<ARRAY_SIZE(i2c_devices); j++) {
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const auto &dev_j = i2c_devices[j];
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if (dev_i.bus == dev_j.bus &&
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dev_i.addr == dev_j.addr) {
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AP_HAL::panic("Two devices at the same address on the same bus");
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}
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}
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}
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}
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void I2C::update(const class Aircraft &aircraft)
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{
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init(); // lazily set up the device table on first use
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for (auto daa : i2c_devices) {
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daa.device.update(aircraft);
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}
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}
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int I2C::ioctl_rdwr(i2c_rdwr_ioctl_data *data)
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{
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const uint8_t addr = data->msgs[0].addr;
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const uint8_t bus = data->msgs[0].bus;
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for (auto &dev_at_address : i2c_devices) {
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if (dev_at_address.addr != addr) {
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continue;
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}
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if (dev_at_address.bus != bus) {
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continue;
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}
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return dev_at_address.device.rdwr(data);
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}
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// ::fprintf(stderr, "Unhandled i2c message: bus=%u addr=0x%02x flags=%u len=%u\n", msg.bus, msg.addr, msg.flags, msg.len);
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return -1; // ?!
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}
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int I2C::ioctl(uint8_t ioctl_type, void *data)
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{
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init(); // lazily set up the device table on first use
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switch ((IOCtlType) ioctl_type) {
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case IOCtlType::RDWR:
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return ioctl_rdwr((i2c_rdwr_ioctl_data*)data);
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}
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return -1;
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}
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