mirror of https://github.com/ArduPilot/ardupilot
113 lines
3.2 KiB
C++
113 lines
3.2 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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/*
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backend driver class for airspeed
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*/
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_HAL/Semaphores.h>
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#include "AP_Airspeed.h"
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class AP_Airspeed_Backend {
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public:
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AP_Airspeed_Backend(AP_Airspeed &frontend, uint8_t instance);
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virtual ~AP_Airspeed_Backend();
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// probe and initialise the sensor
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virtual bool init(void) = 0;
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// return the current differential_pressure in Pascal
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virtual bool get_differential_pressure(float &pressure) {return false;}
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// return the current temperature in degrees C, if available
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virtual bool get_temperature(float &temperature) = 0;
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// true if sensor reads airspeed directly, not via pressue
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virtual bool has_airspeed() {return false;}
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// return airspeed in m/s if available
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virtual bool get_airspeed(float& airspeed) {return false;}
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virtual void handle_msp(const MSP::msp_airspeed_data_message_t &pkt) {}
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protected:
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int8_t get_pin(void) const;
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float get_psi_range(void) const;
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uint8_t get_bus(void) const;
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bool bus_is_confgured(void) const;
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uint8_t get_instance(void) const {
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return instance;
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}
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// see if voltage correction should be disabled
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bool disable_voltage_correction(void) const {
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return (frontend._options.get() & AP_Airspeed::OptionsMask::DISABLE_VOLTAGE_CORRECTION) != 0;
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}
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AP_Airspeed::pitot_tube_order get_tube_order(void) const {
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return AP_Airspeed::pitot_tube_order(frontend.param[instance].tube_order.get());
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}
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// semaphore for access to shared frontend data
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HAL_Semaphore sem;
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float get_airspeed_ratio(void) const {
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return frontend.get_airspeed_ratio(instance);
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}
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// some sensors use zero offsets
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void set_use_zero_offset(void) {
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frontend.state[instance].use_zero_offset = true;
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}
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// set to no zero cal, which makes sense for some sensors
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void set_skip_cal(void) {
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frontend.param[instance].skip_cal.set(1);
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}
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// set zero offset
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void set_offset(float ofs) {
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frontend.param[instance].offset.set(ofs);
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}
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// set use
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void set_use(int8_t use) {
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frontend.param[instance].use.set(use);
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}
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// set bus ID of this instance, for ARSPD_DEVID parameters
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void set_bus_id(uint32_t id);
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enum class DevType {
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SITL = 0x01,
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MS4525 = 0x02,
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MS5525 = 0x03,
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DLVR = 0x04,
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MSP = 0x05,
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SDP3X = 0x06,
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UAVCAN = 0x07,
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ANALOG = 0x08,
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NMEA = 0x09,
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ASP5033 = 0x0A,
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};
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private:
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AP_Airspeed &frontend;
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uint8_t instance;
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};
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