Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Baro.h"
       4             : 
       5             : class AP_Baro_Backend
       6             : {
       7             : public:
       8             :     AP_Baro_Backend(class AP_Baro &baro);
       9          82 :     virtual ~AP_Baro_Backend(void) {};
      10             : 
      11             :     // each driver must provide an update method to copy accumulated
      12             :     // data to the frontend
      13             :     virtual void update() = 0;
      14             : 
      15             :     void backend_update(uint8_t instance);
      16             : 
      17             :     //  Check that the baro valid by using a mean filter.
      18             :     // If the value further that filter_range from mean value, it is rejected.
      19             :     bool pressure_ok(float press);
      20             :     uint32_t get_error_count() const { return _error_count; }
      21             : 
      22             : #if AP_BARO_MSP_ENABLED
      23           0 :     virtual void handle_msp(const MSP::msp_baro_data_message_t &pkt) {}
      24             : #endif
      25             : 
      26             : #if AP_BARO_EXTERNALAHRS_ENABLED
      27      257118 :     virtual void handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt) {}
      28             : #endif
      29             : 
      30             :     /*
      31             :       device driver IDs. These are used to fill in the devtype field
      32             :       of the device ID, which shows up as BARO_DEVID* parameters to
      33             :       users.
      34             :      */
      35             :     enum DevTypes {
      36             :         DEVTYPE_BARO_SITL     = 0x01,
      37             :         DEVTYPE_BARO_BMP085   = 0x02,
      38             :         DEVTYPE_BARO_BMP280   = 0x03,
      39             :         DEVTYPE_BARO_BMP388   = 0x04,
      40             :         DEVTYPE_BARO_DPS280   = 0x05,
      41             :         DEVTYPE_BARO_DPS310   = 0x06,
      42             :         DEVTYPE_BARO_FBM320   = 0x07,
      43             :         DEVTYPE_BARO_ICM20789 = 0x08,
      44             :         DEVTYPE_BARO_KELLERLD = 0x09,
      45             :         DEVTYPE_BARO_LPS2XH   = 0x0A,
      46             :         DEVTYPE_BARO_MS5611   = 0x0B,
      47             :         DEVTYPE_BARO_SPL06    = 0x0C,
      48             :         DEVTYPE_BARO_UAVCAN   = 0x0D,
      49             :         DEVTYPE_BARO_MSP      = 0x0E,
      50             :         DEVTYPE_BARO_ICP101XX = 0x0F,
      51             :         DEVTYPE_BARO_ICP201XX = 0x10,
      52             :         DEVTYPE_BARO_MS5607   = 0x11,
      53             :         DEVTYPE_BARO_MS5837_30BA = 0x12,
      54             :         DEVTYPE_BARO_MS5637   = 0x13,
      55             :         DEVTYPE_BARO_BMP390   = 0x14,
      56             :         DEVTYPE_BARO_BMP581   = 0x15,
      57             :         DEVTYPE_BARO_SPA06    = 0x16,
      58             :         DEVTYPE_BARO_AUAV     = 0x17,
      59             :         DEVTYPE_BARO_MS5837_02BA = 0x18,
      60             :     };
      61             : 
      62             : protected:
      63             :     // reference to frontend object
      64             :     AP_Baro &_frontend;
      65             : 
      66             :     void _copy_to_frontend(uint8_t instance, float pressure, float temperature);
      67             : 
      68             :     // semaphore for access to shared frontend data
      69             :     HAL_Semaphore _sem;
      70             : 
      71             :     virtual void update_healthy_flag(uint8_t instance);
      72             : 
      73             :     // mean pressure for range filter
      74             :     float _mean_pressure; 
      75             :     // number of dropped samples. Not used for now, but can be usable to choose more reliable sensor
      76             :     uint32_t _error_count;
      77             : 
      78             :     // set bus ID of this instance, for BARO_DEVID parameters
      79             :     void set_bus_id(uint8_t instance, uint32_t id);
      80             : };