mirror of https://github.com/ArduPilot/ardupilot
138 lines
3.9 KiB
C++
138 lines
3.9 KiB
C++
/*
|
|
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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
|
|
/*
|
|
backend driver class for airspeed
|
|
*/
|
|
|
|
#include "AP_Airspeed_config.h"
|
|
|
|
#if AP_AIRSPEED_ENABLED
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_HAL/AP_HAL_Boards.h>
|
|
#include <AP_HAL/Semaphores.h>
|
|
#include "AP_Airspeed.h"
|
|
#include <AP_MSP/msp_sensors.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) {return false;}
|
|
|
|
// return the current temperature in degrees C, if available
|
|
virtual bool get_temperature(float &temperature) = 0;
|
|
|
|
// true if sensor reads airspeed directly, not via pressure
|
|
virtual bool has_airspeed() {return false;}
|
|
|
|
// return airspeed in m/s if available
|
|
virtual bool get_airspeed(float& airspeed) {return false;}
|
|
|
|
virtual void handle_msp(const MSP::msp_airspeed_data_message_t &pkt) {}
|
|
#if AP_AIRSPEED_EXTERNAL_ENABLED
|
|
virtual void handle_external(const AP_ExternalAHRS::airspeed_data_message_t &pkt) {}
|
|
#endif
|
|
|
|
#if AP_AIRSPEED_HYGROMETER_ENABLE
|
|
// optional hygrometer support
|
|
virtual bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) { return false; }
|
|
#endif
|
|
|
|
protected:
|
|
int8_t get_pin(void) const;
|
|
float get_psi_range(void) const;
|
|
uint8_t get_bus(void) const;
|
|
bool bus_is_configured(void) const;
|
|
uint8_t get_instance(void) const {
|
|
return instance;
|
|
}
|
|
|
|
// see if voltage correction should be disabled
|
|
bool disable_voltage_correction(void) const {
|
|
return (frontend._options.get() & AP_Airspeed::OptionsMask::DISABLE_VOLTAGE_CORRECTION) != 0;
|
|
}
|
|
|
|
AP_Airspeed::pitot_tube_order get_tube_order(void) const {
|
|
#ifndef HAL_BUILD_AP_PERIPH
|
|
return AP_Airspeed::pitot_tube_order(frontend.param[instance].tube_order.get());
|
|
#else
|
|
return AP_Airspeed::pitot_tube_order::PITOT_TUBE_ORDER_AUTO;
|
|
#endif
|
|
}
|
|
|
|
// 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) {
|
|
#ifndef HAL_BUILD_AP_PERIPH
|
|
frontend.param[instance].skip_cal.set(1);
|
|
#endif
|
|
}
|
|
|
|
// set zero offset
|
|
void set_offset(float ofs) {
|
|
#ifndef HAL_BUILD_AP_PERIPH
|
|
frontend.param[instance].offset.set(ofs);
|
|
#endif
|
|
}
|
|
|
|
// set use
|
|
void set_use(int8_t use) {
|
|
#ifndef HAL_BUILD_AP_PERIPH
|
|
frontend.param[instance].use.set(use);
|
|
#endif
|
|
}
|
|
|
|
// set bus ID of this instance, for ARSPD_DEVID parameters
|
|
void set_bus_id(uint32_t id);
|
|
|
|
enum class DevType {
|
|
SITL = 0x01,
|
|
MS4525 = 0x02,
|
|
MS5525 = 0x03,
|
|
DLVR = 0x04,
|
|
MSP = 0x05,
|
|
SDP3X = 0x06,
|
|
UAVCAN = 0x07,
|
|
ANALOG = 0x08,
|
|
NMEA = 0x09,
|
|
ASP5033 = 0x0A,
|
|
};
|
|
|
|
private:
|
|
AP_Airspeed &frontend;
|
|
uint8_t instance;
|
|
};
|
|
|
|
#endif // AP_AIRSPEED_ENABLED
|