mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.4 KiB
C++
58 lines
1.4 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef AP_AIRSPEED_UAVCAN_ENABLED
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#define AP_AIRSPEED_UAVCAN_ENABLED HAL_ENABLE_LIBUAVCAN_DRIVERS
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#endif
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#if AP_AIRSPEED_UAVCAN_ENABLED
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#include "AP_Airspeed_Backend.h"
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#include <AP_UAVCAN/AP_UAVCAN.h>
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class AirspeedCb;
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class AP_Airspeed_UAVCAN : public AP_Airspeed_Backend {
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public:
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AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance);
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bool init(void) override;
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// return the current differential_pressure in Pascal
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bool get_differential_pressure(float &pressure) override;
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// temperature not available via analog backend
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bool get_temperature(float &temperature) override;
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static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
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static AP_Airspeed_Backend* probe(AP_Airspeed &_fronted, uint8_t _instance);
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private:
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static void handle_airspeed(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AirspeedCb &cb);
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static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id);
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float _pressure; // Pascal
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float _temperature; // Celcius
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uint32_t _last_sample_time_ms;
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HAL_Semaphore _sem_airspeed;
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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_Airspeed_UAVCAN *driver;
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} _detected_modules[AIRSPEED_MAX_SENSORS];
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static HAL_Semaphore _sem_registry;
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bool _have_temperature;
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};
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#endif // AP_AIRSPEED_UAVCAN_ENABLED
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