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54 lines
1.4 KiB
54 lines
1.4 KiB
#pragma once |
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#include "AP_Baro_Backend.h" |
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#ifndef AP_BARO_UAVCAN_ENABLED |
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#define AP_BARO_UAVCAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS) |
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#endif |
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#if AP_BARO_UAVCAN_ENABLED |
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#include <AP_UAVCAN/AP_UAVCAN.h> |
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class PressureCb; |
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class TemperatureCb; |
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class AP_Baro_UAVCAN : public AP_Baro_Backend { |
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public: |
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AP_Baro_UAVCAN(AP_Baro &baro); |
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void update() override; |
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static void subscribe_msgs(AP_UAVCAN* ap_uavcan); |
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static AP_Baro_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, bool create_new); |
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static AP_Baro_Backend* probe(AP_Baro &baro); |
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static void handle_pressure(AP_UAVCAN* ap_uavcan, uint8_t node_id, const PressureCb &cb); |
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static void handle_temperature(AP_UAVCAN* ap_uavcan, uint8_t node_id, const TemperatureCb &cb); |
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private: |
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static void _update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count); |
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uint8_t _instance; |
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bool new_pressure; |
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float _pressure; |
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float _temperature; |
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uint8_t _pressure_count; |
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HAL_Semaphore _sem_baro; |
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AP_UAVCAN* _ap_uavcan; |
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uint8_t _node_id; |
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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_Baro_UAVCAN* driver; |
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} _detected_modules[BARO_MAX_DRIVERS]; |
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static HAL_Semaphore _sem_registry; |
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}; |
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#endif // AP_BARO_UAVCAN_ENABLED
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