mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.4 KiB
C++
55 lines
1.4 KiB
C++
#pragma once
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#include "AP_Baro_Backend.h"
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#ifndef AP_BARO_UAVCAN_ENABLED
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#define AP_BARO_UAVCAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
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#endif
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#if AP_BARO_UAVCAN_ENABLED
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#include <AP_UAVCAN/AP_UAVCAN.h>
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class PressureCb;
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class TemperatureCb;
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class AP_Baro_UAVCAN : public AP_Baro_Backend {
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public:
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AP_Baro_UAVCAN(AP_Baro &baro);
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void update() override;
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static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
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static AP_Baro_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, bool create_new);
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static AP_Baro_Backend* probe(AP_Baro &baro);
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static void handle_pressure(AP_UAVCAN* ap_uavcan, uint8_t node_id, const PressureCb &cb);
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static void handle_temperature(AP_UAVCAN* ap_uavcan, uint8_t node_id, const TemperatureCb &cb);
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private:
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static void _update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count);
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uint8_t _instance;
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bool new_pressure;
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float _pressure;
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float _temperature;
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uint8_t _pressure_count;
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HAL_Semaphore _sem_baro;
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AP_UAVCAN* _ap_uavcan;
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uint8_t _node_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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AP_Baro_UAVCAN* driver;
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} _detected_modules[BARO_MAX_DRIVERS];
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static HAL_Semaphore _sem_registry;
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};
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#endif // AP_BARO_UAVCAN_ENABLED
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