mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.8 KiB
C
53 lines
1.8 KiB
C
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/*
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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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#pragma once
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#include "AP_TemperatureSensor_config.h"
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#if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
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#include "AP_TemperatureSensor_Backend.h"
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#include <AP_Param/AP_Param.h>
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#include <AP_DroneCAN/AP_DroneCAN.h>
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class AP_TemperatureSensor_DroneCAN : public AP_TemperatureSensor_Backend {
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public:
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AP_TemperatureSensor_DroneCAN(AP_TemperatureSensor &front, AP_TemperatureSensor::TemperatureSensor_State &state, AP_TemperatureSensor_Params ¶ms);
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static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
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// Don't do anything in update, but still need to override the pure virtual method.
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void update(void) override {};
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static const struct AP_Param::GroupInfo var_info[];
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private:
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static void handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_device_Temperature &msg);
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// Static list of drivers
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static AP_TemperatureSensor_DroneCAN *_drivers[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
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static uint8_t _driver_instance;
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static HAL_Semaphore _driver_sem;
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// DroneCAN temperature ID to listen for
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AP_Int32 _ID;
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};
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#endif // AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
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