ardupilot/libraries/AP_Baro/AP_Baro_UAVCAN.h

55 lines
1.4 KiB
C++

#pragma once
#include "AP_Baro_Backend.h"
#ifndef AP_BARO_UAVCAN_ENABLED
#define AP_BARO_UAVCAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
#endif
#if AP_BARO_UAVCAN_ENABLED
#include <AP_UAVCAN/AP_UAVCAN.h>
class PressureCb;
class TemperatureCb;
class AP_Baro_UAVCAN : public AP_Baro_Backend {
public:
AP_Baro_UAVCAN(AP_Baro &baro);
void update() override;
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_Baro_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, bool create_new);
static AP_Baro_Backend* probe(AP_Baro &baro);
static void handle_pressure(AP_UAVCAN* ap_uavcan, uint8_t node_id, const PressureCb &cb);
static void handle_temperature(AP_UAVCAN* ap_uavcan, uint8_t node_id, const TemperatureCb &cb);
private:
static void _update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count);
uint8_t _instance;
bool new_pressure;
float _pressure;
float _temperature;
uint8_t _pressure_count;
HAL_Semaphore _sem_baro;
AP_UAVCAN* _ap_uavcan;
uint8_t _node_id;
// Module Detection Registry
static struct DetectedModules {
AP_UAVCAN* ap_uavcan;
uint8_t node_id;
AP_Baro_UAVCAN* driver;
} _detected_modules[BARO_MAX_DRIVERS];
static HAL_Semaphore _sem_registry;
};
#endif // AP_BARO_UAVCAN_ENABLED