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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_Backend.h
Views: 1798
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#pragma once

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#include "AP_Baro.h"

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class AP_Baro_Backend

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{

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public:

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    AP_Baro_Backend(AP_Baro &baro);

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    virtual ~AP_Baro_Backend(void) {};

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    // each driver must provide an update method to copy accumulated

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    // data to the frontend

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    virtual void update() = 0;

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    void backend_update(uint8_t instance);

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    //  Check that the baro valid by using a mean filter.

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    // If the value further that filter_range from mean value, it is rejected.

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    bool pressure_ok(float press);

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    uint32_t get_error_count() const { return _error_count; }

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#if AP_BARO_MSP_ENABLED

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    virtual void handle_msp(const MSP::msp_baro_data_message_t &pkt) {}

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#endif

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#if AP_BARO_EXTERNALAHRS_ENABLED

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    virtual void handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt) {}

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#endif

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    /*

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      device driver IDs. These are used to fill in the devtype field

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      of the device ID, which shows up as BARO_DEVID* parameters to

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      users.

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     */

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    enum DevTypes {

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        DEVTYPE_BARO_SITL     = 0x01,

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        DEVTYPE_BARO_BMP085   = 0x02,

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        DEVTYPE_BARO_BMP280   = 0x03,

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        DEVTYPE_BARO_BMP388   = 0x04,

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        DEVTYPE_BARO_DPS280   = 0x05,

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        DEVTYPE_BARO_DPS310   = 0x06,

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        DEVTYPE_BARO_FBM320   = 0x07,

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        DEVTYPE_BARO_ICM20789 = 0x08,

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        DEVTYPE_BARO_KELLERLD = 0x09,

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        DEVTYPE_BARO_LPS2XH   = 0x0A,

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        DEVTYPE_BARO_MS5611   = 0x0B,

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        DEVTYPE_BARO_SPL06    = 0x0C,

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        DEVTYPE_BARO_UAVCAN   = 0x0D,

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        DEVTYPE_BARO_MSP      = 0x0E,

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        DEVTYPE_BARO_ICP101XX = 0x0F,

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        DEVTYPE_BARO_ICP201XX = 0x10,

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        DEVTYPE_BARO_MS5607   = 0x11,

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        DEVTYPE_BARO_MS5837   = 0x12,

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        DEVTYPE_BARO_MS5637   = 0x13,

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        DEVTYPE_BARO_BMP390   = 0x14,

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        DEVTYPE_BARO_BMP581   = 0x15,

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    };

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protected:

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    // reference to frontend object

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    AP_Baro &_frontend;

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    void _copy_to_frontend(uint8_t instance, float pressure, float temperature);

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    // semaphore for access to shared frontend data

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    HAL_Semaphore _sem;

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    virtual void update_healthy_flag(uint8_t instance);

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    // mean pressure for range filter

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    float _mean_pressure; 

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    // number of dropped samples. Not used for now, but can be usable to choose more reliable sensor

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    uint32_t _error_count;

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    // set bus ID of this instance, for BARO_DEVID parameters

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    void set_bus_id(uint8_t instance, uint32_t id) {

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        _frontend.sensors[instance].bus_id.set(int32_t(id));

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    }

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};

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