mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
121 lines
4.0 KiB
C++
121 lines
4.0 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_HAL/AP_HAL.h>
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#ifndef AP_TEMPERATURE_SENSOR_ENABLED
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#define AP_TEMPERATURE_SENSOR_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
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#endif
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#if AP_TEMPERATURE_SENSOR_ENABLED
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#include "AP_TemperatureSensor_Params.h"
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// maximum number of Temperature Sensors
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#ifndef AP_TEMPERATURE_SENSOR_MAX_INSTANCES
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#define AP_TEMPERATURE_SENSOR_MAX_INSTANCES 3
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#endif
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// first sensor is always the primary sensor
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#ifndef AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE
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#define AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE 0
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#endif
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// declare backend class
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class AP_TemperatureSensor_Backend;
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class AP_TemperatureSensor_TSYS01;
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class AP_TemperatureSensor_MCP9600;
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class AP_TemperatureSensor
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{
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friend class AP_TemperatureSensor_Backend;
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friend class AP_TemperatureSensor_TSYS01;
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friend class AP_TemperatureSensor_MCP9600;
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public:
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// Constructor
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AP_TemperatureSensor();
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CLASS_NO_COPY(AP_TemperatureSensor);
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static AP_TemperatureSensor *get_singleton() { return _singleton; }
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// temperature sensor types
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enum class Type : uint8_t {
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NONE = 0,
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TSYS01 = 1,
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MCP9600 = 2,
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};
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// option to map to another system component
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enum class Source : uint8_t {
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None = 0,
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ESC = 1,
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Motor = 2,
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Battery_Index = 3,
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Battery_ID_SerialNumber = 4,
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};
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// The TemperatureSensor_State structure is filled in by the backend driver
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struct TemperatureSensor_State {
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const struct AP_Param::GroupInfo *var_info;
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uint32_t last_time_ms; // time when the sensor was last read in milliseconds
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float temperature; // temperature (deg C)
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uint8_t instance; // instance number
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};
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// Return the number of temperature sensors instances
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uint8_t num_instances(void) const { return _num_instances; }
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// detect and initialise any available temperature sensors
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void init();
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// Update the temperature for all temperature sensors
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void update();
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bool get_temperature(float &temp, const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
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bool healthy(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
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// accessors to params
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Type get_type(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
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Source get_source(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
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int32_t get_source_id(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// parameters
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AP_TemperatureSensor_Params _params[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
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private:
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static AP_TemperatureSensor *_singleton;
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TemperatureSensor_State _state[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
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AP_TemperatureSensor_Backend *drivers[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
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uint8_t _num_instances; // number of temperature sensors
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// Parameters
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AP_Int8 _log_flag; // log_flag: true if we should log all sensors data
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};
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namespace AP {
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AP_TemperatureSensor &temperature_sensor();
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};
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#endif // AP_TEMPERATURE_SENSOR_ENABLED
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