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

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#include "AP_Compass.h"

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#if AP_COMPASS_DRONECAN_ENABLED

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#include "AP_Compass_Backend.h"

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#include <AP_DroneCAN/AP_DroneCAN.h>

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class AP_Compass_DroneCAN : public AP_Compass_Backend {

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public:

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    AP_Compass_DroneCAN(AP_DroneCAN* ap_dronecan, uint32_t devid);

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    void        read(void) override;

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    static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);

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    static AP_Compass_Backend* probe(uint8_t index);

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    static uint32_t get_detected_devid(uint8_t index) { return _detected_modules[index].devid; }

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    static void handle_magnetic_field(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_ahrs_MagneticFieldStrength& msg);

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    static void handle_magnetic_field_2(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_ahrs_MagneticFieldStrength2 &msg);

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#if AP_COMPASS_DRONECAN_HIRES_ENABLED

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    static void handle_magnetic_field_hires(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_magnetometer_MagneticFieldStrengthHiRes &msg);

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#endif

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private:

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    bool init();

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    // callback for DroneCAN messages

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    void handle_mag_msg(const Vector3f &mag);

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    static AP_Compass_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t sensor_id);

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    uint8_t  _instance;

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    uint32_t _devid;

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    // Module Detection Registry

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    static struct DetectedModules {

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        AP_DroneCAN* ap_dronecan;

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        uint8_t node_id;

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        uint8_t sensor_id;

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        AP_Compass_DroneCAN *driver;

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        uint32_t devid;

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    } _detected_modules[COMPASS_MAX_BACKEND];

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    static HAL_Semaphore _sem_registry;

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};

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#endif  // AP_COMPASS_DRONECAN_ENABLED

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