ardupilot/libraries/AP_Compass/AP_Compass_UAVCAN.h

47 lines
1.2 KiB
C++

#pragma once
#include "AP_Compass.h"
#include "AP_Compass_Backend.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
class MagCb;
class Mag2Cb;
class AP_Compass_UAVCAN : public AP_Compass_Backend {
public:
AP_Compass_UAVCAN(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id);
void read(void) override;
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_Compass_Backend* probe();
static void handle_magnetic_field(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MagCb &cb);
static void handle_magnetic_field_2(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Mag2Cb &cb);
private:
void init();
// callback for UAVCAN messages
void handle_mag_msg(const Vector3f &mag);
static AP_Compass_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id);
uint8_t _instance;
AP_UAVCAN* _ap_uavcan;
uint8_t _node_id;
uint8_t _sensor_id;
// Module Detection Registry
static struct DetectedModules {
AP_UAVCAN* ap_uavcan;
uint8_t node_id;
uint8_t sensor_id;
AP_Compass_UAVCAN *driver;
} _detected_modules[COMPASS_MAX_BACKEND];
static HAL_Semaphore _sem_registry;
};