mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.3 KiB
C++
53 lines
1.3 KiB
C++
#pragma once
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#include "AP_Compass.h"
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#include "AP_Compass_Backend.h"
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#include <AP_UAVCAN/AP_UAVCAN.h>
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class MagCb;
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class Mag2Cb;
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class AP_Compass_UAVCAN : public AP_Compass_Backend {
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public:
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AP_Compass_UAVCAN(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id);
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void read(void) override;
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static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
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static AP_Compass_Backend* probe();
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static void handle_magnetic_field(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MagCb &cb);
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static void handle_magnetic_field_2(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Mag2Cb &cb);
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private:
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void init();
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// callback for UAVCAN messages
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void handle_mag_msg(const Vector3f &mag);
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static bool take_registry();
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static void give_registry();
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static AP_Compass_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id);
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uint8_t _instance;
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bool _initialized;
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Vector3f _sum;
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uint32_t _count;
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AP_UAVCAN* _ap_uavcan;
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uint8_t _node_id;
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uint8_t _sensor_id;
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// Module Detection Registry
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static struct DetectedModules {
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AP_UAVCAN* ap_uavcan;
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uint8_t node_id;
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uint8_t sensor_id;
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AP_Compass_UAVCAN *driver;
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} _detected_modules[COMPASS_MAX_BACKEND];
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static AP_HAL::Semaphore *_sem_registry;
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};
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