mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
e82e6629d2
* remove unnecessary nullptr check, these are always called from an initialized AP_DroneCAN so if it's nullptr something has gone horrifically wrong * pass in driver index instead of repeatedly calling function to get it * simplify error handling; knowing exactly which allocation failed is not super helpful and one failing likely means subsequent ones will too, as it can only fail due to being out of memory
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_RPM_config.h"
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#if AP_RPM_DRONECAN_ENABLED
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#include "RPM_Backend.h"
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#include <AP_DroneCAN/AP_DroneCAN.h>
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class AP_RPM_DroneCAN : public AP_RPM_Backend
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{
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public:
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AP_RPM_DroneCAN(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state);
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// Subscribe to incoming rpm messages
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static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
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// update state
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void update(void) override;
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private:
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// Receive new CAN message
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static void handle_rpm(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_rpm_RPM &msg);
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// Temporay variables used to update main state in update call
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float rpm;
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uint32_t last_reading_ms;
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float signal_quality;
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// Static list of drivers
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static AP_RPM_DroneCAN *_drivers[RPM_MAX_INSTANCES];
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static uint8_t _driver_instance;
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static HAL_Semaphore _driver_sem;
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};
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#endif // AP_RPM_DRONECAN_ENABLED
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