You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
46 lines
1.2 KiB
46 lines
1.2 KiB
#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; |
|
};
|
|
|