ardupilot/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h

72 lines
1.9 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_AIRSPEED_UAVCAN_ENABLED
#define AP_AIRSPEED_UAVCAN_ENABLED HAL_ENABLE_LIBUAVCAN_DRIVERS
#endif
#if AP_AIRSPEED_UAVCAN_ENABLED
#include "AP_Airspeed_Backend.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
class AirspeedCb;
class HygrometerCb;
class AP_Airspeed_UAVCAN : public AP_Airspeed_Backend {
public:
AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance);
bool init(void) override;
// return the current differential_pressure in Pascal
bool get_differential_pressure(float &pressure) override;
// temperature not available via analog backend
bool get_temperature(float &temperature) override;
#if AP_AIRSPEED_HYGROMETER_ENABLE
// get hygrometer data
bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) override;
#endif
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_Airspeed_Backend* probe(AP_Airspeed &_fronted, uint8_t _instance, uint32_t previous_devid);
private:
static void handle_airspeed(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AirspeedCb &cb);
static void handle_hygrometer(AP_UAVCAN* ap_uavcan, uint8_t node_id, const HygrometerCb &cb);
static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id);
float _pressure; // Pascal
float _temperature; // Celcius
uint32_t _last_sample_time_ms;
// hygrometer data
struct {
float temperature;
float humidity;
uint32_t last_sample_ms;
} _hygrometer;
HAL_Semaphore _sem_airspeed;
// Module Detection Registry
static struct DetectedModules {
AP_UAVCAN* ap_uavcan;
uint8_t node_id;
AP_Airspeed_UAVCAN *driver;
} _detected_modules[AIRSPEED_MAX_SENSORS];
static HAL_Semaphore _sem_registry;
bool _have_temperature;
};
#endif // AP_AIRSPEED_UAVCAN_ENABLED