Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : /*
      17             :   backend driver class for airspeed
      18             :  */
      19             : 
      20             : #include "AP_Airspeed_config.h"
      21             : 
      22             : #if AP_AIRSPEED_ENABLED
      23             : 
      24             : #include <AP_Common/AP_Common.h>
      25             : #include <AP_HAL/AP_HAL.h>
      26             : #include "AP_Airspeed.h"
      27             : #include "AP_Airspeed_Backend.h"
      28             : 
      29             : extern const AP_HAL::HAL &hal;
      30             : 
      31         710 : AP_Airspeed_Backend::AP_Airspeed_Backend(AP_Airspeed &_frontend, uint8_t _instance) :
      32         710 :     frontend(_frontend),
      33         710 :     instance(_instance)
      34             : {
      35         710 : }
      36             : 
      37      552762 : int8_t AP_Airspeed_Backend::get_pin(void) const
      38             : {
      39             : #ifndef HAL_BUILD_AP_PERIPH
      40      552762 :     return frontend.param[instance].pin;
      41             : #else
      42             :     return 0;
      43             : #endif
      44             : }
      45             : 
      46      552072 : float AP_Airspeed_Backend::get_psi_range(void) const
      47             : {
      48      552072 :     return frontend.param[instance].psi_range;
      49             : }
      50             : 
      51          16 : uint8_t AP_Airspeed_Backend::get_bus(void) const
      52             : {
      53          16 :     return frontend.param[instance].bus;
      54             : }
      55             : 
      56           0 : bool AP_Airspeed_Backend::bus_is_configured(void) const
      57             : {
      58           0 :     return frontend.param[instance].bus.configured();
      59             : }
      60             : 
      61         710 : void AP_Airspeed_Backend::set_bus_id(uint32_t id)
      62             : {
      63         710 :     frontend.param[instance].bus_id.set_and_save(int32_t(id));
      64         710 : }
      65             : 
      66             : #endif  // AP_AIRSPEED_ENABLED