mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.5 KiB
C
53 lines
1.5 KiB
C
|
/*
|
||
|
|
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
|
||
|
|
|
||
|
|
#include "AP_RPM_config.h"
|
||
|
|
|
||
|
|
#if AP_RPM_DRONECAN_ENABLED
|
||
|
|
|
||
|
|
#include "RPM_Backend.h"
|
||
|
|
#include <AP_DroneCAN/AP_DroneCAN.h>
|
||
|
|
|
||
|
|
class AP_RPM_DroneCAN : public AP_RPM_Backend
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
AP_RPM_DroneCAN(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state);
|
||
|
|
|
||
|
|
// Subscribe to incoming rpm messages
|
||
|
|
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
|
||
|
|
|
||
|
|
// update state
|
||
|
|
void update(void) override;
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
// Receive new CAN message
|
||
|
|
static void handle_rpm(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_rpm_RPM &msg);
|
||
|
|
|
||
|
|
// Temporay variables used to update main state in update call
|
||
|
|
float rpm;
|
||
|
|
uint32_t last_reading_ms;
|
||
|
|
float signal_quality;
|
||
|
|
|
||
|
|
// Static list of drivers
|
||
|
|
static AP_RPM_DroneCAN *_drivers[RPM_MAX_INSTANCES];
|
||
|
|
static uint8_t _driver_instance;
|
||
|
|
static HAL_Semaphore _driver_sem;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // AP_RPM_DRONECAN_ENABLED
|