mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.6 KiB
C++
88 lines
2.6 KiB
C++
#pragma once
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#include "AP_Baro.h"
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#ifndef AP_BARO_BACKEND_DEFAULT_ENABLED
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#define AP_BARO_BACKEND_DEFAULT_ENABLED 1
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#endif
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class AP_Baro_Backend
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{
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public:
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AP_Baro_Backend(AP_Baro &baro);
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virtual ~AP_Baro_Backend(void) {};
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// each driver must provide an update method to copy accumulated
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// data to the frontend
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virtual void update() = 0;
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// accumulate function. This is used for backends that don't use a
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// timer, and need to be called regularly by the main code to
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// trigger them to read the sensor
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virtual void accumulate(void) {}
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void backend_update(uint8_t instance);
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// Check that the baro valid by using a mean filter.
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// If the value further that filtrer_range from mean value, it is rejected.
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bool pressure_ok(float press);
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uint32_t get_error_count() const { return _error_count; }
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#if AP_BARO_MSP_ENABLED
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virtual void handle_msp(const MSP::msp_baro_data_message_t &pkt) {}
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#endif
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#if AP_BARO_EXTERNALAHRS_ENABLED
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virtual void handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt) {}
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#endif
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/*
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device driver IDs. These are used to fill in the devtype field
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of the device ID, which shows up as BARO_DEVID* parameters to
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users.
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*/
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enum DevTypes {
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DEVTYPE_BARO_SITL = 0x01,
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DEVTYPE_BARO_BMP085 = 0x02,
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DEVTYPE_BARO_BMP280 = 0x03,
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DEVTYPE_BARO_BMP388 = 0x04,
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DEVTYPE_BARO_DPS280 = 0x05,
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DEVTYPE_BARO_DPS310 = 0x06,
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DEVTYPE_BARO_FBM320 = 0x07,
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DEVTYPE_BARO_ICM20789 = 0x08,
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DEVTYPE_BARO_KELLERLD = 0x09,
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DEVTYPE_BARO_LPS2XH = 0x0A,
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DEVTYPE_BARO_MS5611 = 0x0B,
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DEVTYPE_BARO_SPL06 = 0x0C,
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DEVTYPE_BARO_UAVCAN = 0x0D,
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DEVTYPE_BARO_MSP = 0x0E,
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DEVTYPE_BARO_ICP101XX = 0x0F,
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DEVTYPE_BARO_ICP201XX = 0x10,
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DEVTYPE_BARO_MS5607 = 0x11,
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DEVTYPE_BARO_MS5837 = 0x12,
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DEVTYPE_BARO_MS5637 = 0x13,
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DEVTYPE_BARO_BMP390 = 0x14,
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};
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protected:
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// reference to frontend object
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AP_Baro &_frontend;
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void _copy_to_frontend(uint8_t instance, float pressure, float temperature);
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// semaphore for access to shared frontend data
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HAL_Semaphore _sem;
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virtual void update_healthy_flag(uint8_t instance);
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// mean pressure for range filter
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float _mean_pressure;
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// number of dropped samples. Not used for now, but can be usable to choose more reliable sensor
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uint32_t _error_count;
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// set bus ID of this instance, for BARO_DEVID parameters
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void set_bus_id(uint8_t instance, uint32_t id) {
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_frontend.sensors[instance].bus_id.set(int32_t(id));
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}
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};
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