ardupilot/libraries/AP_Baro/AP_Baro_Backend.h

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#pragma once
#include "AP_Baro.h"
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 frontend
virtual void update() = 0;
// accumulate function. This is used for backends that don't use a
// timer, and need to be called regularly by the main code to
// trigger them to read the sensor
virtual 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; }
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#if HAL_MSP_BARO_ENABLED
virtual void handle_msp(const MSP::msp_baro_data_message_t &pkt) {}
#endif
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#if HAL_EXTERNAL_AHRS_ENABLED
virtual void handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt) {}
#endif
/*
device driver IDs. These are used to fill in the devtype field
of the device ID, which shows up as BARO_DEVID* parameters to
users.
*/
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,
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DEVTYPE_BARO_MSP = 0x0E,
};
protected:
// reference to frontend object
AP_Baro &_frontend;
void _copy_to_frontend(uint8_t instance, float pressure, float temperature);
// semaphore for access to shared frontend data
HAL_Semaphore _sem;
virtual void update_healthy_flag(uint8_t instance);
// mean pressure for range filter
float _mean_pressure;
// number of dropped samples. Not used for now, but can be usable to choose more reliable sensor
uint32_t _error_count;
// set bus ID of this instance, for BARO_DEVID parameters
void set_bus_id(uint8_t instance, uint32_t id) {
_frontend.sensors[instance].bus_id.set(int32_t(id));
}
};