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45 lines
1.2 KiB
45 lines
1.2 KiB
#pragma once |
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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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};
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