/* 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 . */ #pragma once /* backend driver class for airspeed */ #include #include #include #include "AP_Airspeed.h" class AP_Airspeed_Backend { public: AP_Airspeed_Backend(AP_Airspeed &frontend, uint8_t instance); virtual ~AP_Airspeed_Backend(); // probe and initialise the sensor virtual bool init(void) = 0; // return the current differential_pressure in Pascal virtual bool get_differential_pressure(float &pressure) = 0; // return the current temperature in degrees C, if available virtual bool get_temperature(float &temperature) = 0; protected: int8_t get_pin(void) const; float get_psi_range(void) const; uint8_t get_bus(void) const; AP_Airspeed::pitot_tube_order get_tube_order(void) const { return AP_Airspeed::pitot_tube_order(frontend.param[instance].tube_order.get()); } // semaphore for access to shared frontend data HAL_Semaphore sem; float get_airspeed_ratio(void) const { return frontend.get_airspeed_ratio(instance); } // some sensors use zero offsets void set_use_zero_offset(void) { frontend.state[instance].use_zero_offset = true; } // set to no zero cal, which makes sense for some sensors void set_skip_cal(void) { frontend.param[instance].skip_cal.set(1); } // set zero offset void set_offset(float ofs) { frontend.param[instance].offset.set(ofs); } private: AP_Airspeed &frontend; uint8_t instance; };