ardupilot/libraries/AP_Baro/AP_Baro_DroneCAN.h

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#pragma once
#include "AP_Baro_Backend.h"
#if AP_BARO_DRONECAN_ENABLED
#include <AP_DroneCAN/AP_DroneCAN.h>
#if AP_TEST_DRONECAN_DRIVERS
#include <SITL/SITL.h>
#endif
class AP_Baro_DroneCAN : public AP_Baro_Backend {
public:
AP_Baro_DroneCAN(AP_Baro &baro);
void update() override;
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static AP_Baro_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new);
static AP_Baro_Backend* probe(AP_Baro &baro);
static void handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg);
static void handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg);
#if AP_TEST_DRONECAN_DRIVERS
void update_healthy_flag(uint8_t instance) override { _frontend.sensors[instance].healthy = !AP::sitl()->baro[instance].disable; };
#endif
private:
static void _update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count);
uint8_t _instance;
bool new_pressure;
float _pressure;
float _temperature;
uint8_t _pressure_count;
HAL_Semaphore _sem_baro;
AP_DroneCAN* _ap_dronecan;
uint8_t _node_id;
// Module Detection Registry
static struct DetectedModules {
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
AP_Baro_DroneCAN* driver;
} _detected_modules[BARO_MAX_DRIVERS];
static HAL_Semaphore _sem_registry;
};
#endif // AP_BARO_DRONECAN_ENABLED