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             : #pragma once
      16             : 
      17             : #include "AP_TemperatureSensor_config.h"
      18             : 
      19             : #if AP_TEMPERATURE_SENSOR_ENABLED
      20             : 
      21             : #include "AP_TemperatureSensor_Params.h"
      22             : 
      23             : // maximum number of Temperature Sensors
      24             : #ifndef AP_TEMPERATURE_SENSOR_MAX_INSTANCES
      25             : #define AP_TEMPERATURE_SENSOR_MAX_INSTANCES             3
      26             : #endif
      27             : 
      28             : // first sensor is always the primary sensor
      29             : #ifndef AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE
      30             : #define AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE          0
      31             : #endif
      32             : 
      33             : // declare backend class
      34             : class AP_TemperatureSensor_Backend;
      35             : class AP_TemperatureSensor_TSYS01;
      36             : class AP_TemperatureSensor_MCP9600;
      37             : class AP_TemperatureSensor_MAX31865;
      38             : class AP_TemperatureSensor_TSYS03;
      39             : class AP_TemperatureSensor_Analog;
      40             : class AP_TemperatureSensor_MLX90614;
      41             : class AP_TemperatureSensor_TMP119;
      42             : 
      43             : class AP_TemperatureSensor
      44             : {
      45             :     friend class AP_TemperatureSensor_Backend;
      46             :     friend class AP_TemperatureSensor_TSYS01;
      47             :     friend class AP_TemperatureSensor_MCP9600;
      48             :     friend class AP_TemperatureSensor_MAX31865;
      49             :     friend class AP_TemperatureSensor_TSYS03;
      50             :     friend class AP_TemperatureSensor_Analog;
      51             :     friend class AP_TemperatureSensor_DroneCAN;
      52             :     friend class AP_TemperatureSensor_MLX90614;
      53             :     friend class AP_TemperatureSensor_TMP119;
      54             : 
      55             : public:
      56             : 
      57             :     // Constructor
      58             :     AP_TemperatureSensor();
      59             : 
      60             :     CLASS_NO_COPY(AP_TemperatureSensor);
      61             : 
      62           0 :     static AP_TemperatureSensor *get_singleton() { return _singleton; }
      63             : 
      64             :     // Return the number of temperature sensors instances
      65             :     uint8_t num_instances(void) const { return _num_instances; }
      66             : 
      67             :     // detect and initialise any available temperature sensors
      68             :     __INITFUNC__ void init();
      69             : 
      70             :     // Update the temperature for all temperature sensors
      71             :     void update();
      72             : 
      73             :     // return temperature from sensor - in degrees Celsius
      74             :     bool get_temperature(float &temp, const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
      75             : 
      76             :     bool healthy(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
      77             : 
      78             :     // accessors to params
      79             :     AP_TemperatureSensor_Params::Type get_type(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
      80             :     AP_TemperatureSensor_Params::Source get_source(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
      81             :     int32_t get_source_id(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
      82             : 
      83             :     static const struct AP_Param::GroupInfo var_info[];
      84             :     static const struct AP_Param::GroupInfo *backend_var_info[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
      85             : 
      86             : protected:
      87             :     // parameters
      88             :     AP_TemperatureSensor_Params _params[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
      89             : 
      90             : private:
      91             :     static AP_TemperatureSensor *_singleton;
      92             : 
      93             :     // The TemperatureSensor_State structure is filled in by the backend driver
      94             :     struct TemperatureSensor_State {
      95             :         uint32_t    last_time_ms;              // time when the sensor was last read in milliseconds
      96             :         float       temperature;               // temperature (deg C)
      97             :         uint8_t     instance;                  // instance number
      98             :         const struct AP_Param::GroupInfo *var_info; 
      99             :     };
     100             : 
     101             :     TemperatureSensor_State _state[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
     102             :     AP_TemperatureSensor_Backend *drivers[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
     103             : 
     104             :     uint8_t     _num_instances;         // number of temperature sensors
     105             : 
     106             : #if HAL_LOGGING_ENABLED
     107             :     enum class LoggingType : uint8_t {
     108             :         All = 1,
     109             :         SourceNone = 2,
     110             :     };
     111             :     AP_Enum<LoggingType> _logging_type;
     112             : #endif
     113             : 
     114             : };
     115             : 
     116             : namespace AP {
     117             :     AP_TemperatureSensor &temperature_sensor();
     118             : };
     119             : 
     120             : #endif // AP_TEMPERATURE_SENSOR_ENABLED