ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h

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#pragma once
#include "AP_RangeFinder_Backend.h"
#include <AP_CANManager/AP_CANSensor.h>
#ifndef AP_RANGEFINDER_USD1_CAN_ENABLED
#define AP_RANGEFINDER_USD1_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif
#if AP_RANGEFINDER_USD1_CAN_ENABLED
class USD1_MultiCAN;
class AP_RangeFinder_USD1_CAN : public AP_RangeFinder_Backend {
public:
friend class USD1_MultiCAN;
AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
void update() override;
// handler for incoming frames
bool handle_frame(AP_HAL::CANFrame &frame);
static const struct AP_Param::GroupInfo var_info[];
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_RADAR;
}
private:
float _distance_sum;
uint32_t _distance_count;
int32_t last_recv_id = -1;
AP_Int32 receive_id;
static USD1_MultiCAN *multican;
AP_RangeFinder_USD1_CAN *next;
};
// a class to allow for multiple USD1_CAN backends with one
// CANSensor driver
class USD1_MultiCAN : public CANSensor {
public:
USD1_MultiCAN() : CANSensor("USD1") {
register_driver(AP_CANManager::Driver_Type_USD1);
}
// handler for incoming frames
void handle_frame(AP_HAL::CANFrame &frame) override;
HAL_Semaphore sem;
AP_RangeFinder_USD1_CAN *drivers;
};
#endif // AP_RANGEFINDER_USD1_CAN_ENABLED