AP_WindVane: Add Support for AbsoluteEncoder Backend

This adds a backend for AP_Windvane using the new AP_AbsoluteEncoder driver. The "DIR_PIN" param is overloaded to select the absolute encoder backend.

libraries/AP_WindVane/AP_WindVane.cpp

@@ -26,6 +26,7 @@
 #include "AP_WindVane_RPM.h"
 #include "AP_WindVane_SITL.h"
 #include "AP_WindVane_NMEA.h"
+#include "AP_WindVane_AbsoluteEncoder.h"
 
 #include <GCS_MAVLink/GCS.h>
 #include <AP_AHRS/AP_AHRS.h>
@@ -40,7 +41,7 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Wind Vane Type
     // @Description: Wind Vane type
-    // @Values: 0:None,1:Heading when armed,2:RC input offset heading when armed,3:Analog,4:NMEA,10:SITL true,11:SITL apparent
+    // @Values: 0:None,1:Heading when armed,2:RC input offset heading when armed,3:Analog,4:NMEA,5:AbsoluteEncoder,10:SITL true,11:SITL apparent
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_WindVane, _direction_type, 0, AP_PARAM_FLAG_ENABLE),
@@ -49,8 +50,8 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = {
 
     // @Param: DIR_PIN
     // @DisplayName: Wind vane analog voltage pin for direction
-    // @Description: Analog input pin to read as wind vane direction
-    // @Values: 11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6/Pixhawk2 ADC,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6,103:Pixhawk SBUS
+    // @Description: Analog input pin to read as wind vane direction. If the Wind Vane type is Absolute Encoder, this parameter selects the Absolute Encoder Instance.
+    // @Values: 0: AENC1, 1:AENC2, 11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6/Pixhawk2 ADC,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6,103:Pixhawk SBUS
     // @User: Standard
     AP_GROUPINFO("DIR_PIN", 3, AP_WindVane, _dir_analog_pin, WINDVANE_DEFAULT_PIN),
 
@@ -228,9 +229,15 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager)
             _direction_driver = new AP_WindVane_NMEA(*this);
             _direction_driver->init(serial_manager);
             break;
+#endif
+#if AP_WINDVANE_ABSOLUTEENCODER_ENABLED
+        case WindVaneType::WINDVANE_ABSOLUTEENCODER:
+            _direction_driver = new AP_WindVane_AbsoluteEncoder(*this);
+            break;
 #endif
     }
 
+
     // wind speed
     switch (_speed_sensor_type) {
         case Speed_type::WINDSPEED_NONE:

libraries/AP_WindVane/AP_WindVane.h

@@ -45,6 +45,7 @@ class AP_WindVane
     friend class AP_WindVane_Airspeed;
     friend class AP_WindVane_RPM;
     friend class AP_WindVane_NMEA;
+    friend class AP_WindVane_AbsoluteEncoder;
 
 public:
     AP_WindVane();
@@ -176,9 +177,12 @@ class AP_WindVane
 #if AP_WINDVANE_NMEA_ENABLED
         WINDVANE_NMEA           = 4,
 #endif
-#if AP_WINDVANE_SIM_ENABLED
-        WINDVANE_SITL_TRUE      = 10,
-        WINDVANE_SITL_APPARENT  = 11,
+#if AP_WINDVANE_ABSOLUTEENCODER_ENABLED
+        WINDVANE_ABSOLUTEENCODER = 5,
+#endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        WINDVANE_SITL_TRUE       = 10,
+        WINDVANE_SITL_APPARENT   = 11,
 #endif
     };
 

libraries/AP_WindVane/AP_WindVane_AbsoluteEncoder.cpp

@@ -0,0 +1,41 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_ABSOLUTEENCODER_ENABLED
+
+#include "AP_WindVane_AbsoluteEncoder.h"
+
+// constructor
+AP_WindVane_AbsoluteEncoder::AP_WindVane_AbsoluteEncoder(AP_WindVane &frontend) :
+    AP_WindVane_Backend(frontend)
+{
+    _encoder_instance = _frontend._dir_analog_pin;
+}
+
+void AP_WindVane_AbsoluteEncoder::update_direction()
+{
+    _encoder_instance = _frontend._dir_analog_pin; // Allow Runtime parameter update
+
+    const AP_AbsoluteEncoder* encoder_driver = AP_AbsoluteEncoder::get_singleton();
+    if (encoder_driver != nullptr) {
+        if (encoder_driver->healthy(_encoder_instance)) {
+            _frontend._direction_apparent_raw = encoder_driver->get_angle_radians(_encoder_instance);
+        }
+    }
+}
+
+#endif  //AP_WINDVANE_ABSOLUTEENCODER_ENABLED

libraries/AP_WindVane/AP_WindVane_AbsoluteEncoder.h

@@ -0,0 +1,36 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#if AP_WINDVANE_ABSOLUTEENCODER_ENABLED
+
+#include "AP_WindVane_Backend.h"
+
+#include <AP_AbsoluteEncoder/AP_AbsoluteEncoder.h>
+
+class AP_WindVane_AbsoluteEncoder : public AP_WindVane_Backend
+{
+public:
+    // constructor
+    AP_WindVane_AbsoluteEncoder(AP_WindVane &frontend);
+
+    // update state
+    void update_direction() override;
+
+private:
+    uint8_t _encoder_instance = 0;
+};
+
+#endif  //AP_WINDVANE_ABSOLUTEENCODER_ENABLED

libraries/AP_WindVane/AP_WindVane_config.h

@@ -4,6 +4,7 @@
 
 #include <AP_Airspeed/AP_Airspeed_config.h>
 #include <AP_RPM/AP_RPM_config.h>
+#include <AP_AbsoluteEncoder/AP_AbsoluteEncoder_config.h>
 
 #ifndef AP_WINDVANE_ENABLED
 #define AP_WINDVANE_ENABLED 1
@@ -37,6 +38,13 @@
 #define AP_WINDVANE_RPM_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED && AP_RPM_ENABLED
 #endif
 
+#ifndef AP_WINDVANE_ABSOLUTEENCODER_ENABLED
+#define AP_WINDVANE_ABSOLUTEENCODER_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED && AP_ABSOLUTEENCODER_ENABLED
+#endif
+
 #ifndef AP_WINDVANE_SIM_ENABLED
 #define AP_WINDVANE_SIM_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED
 #endif
+
+
+