add diff pressure

Udral/airspeed.cpp

@@ -0,0 +1,20 @@
+/// This software is distributed under the terms of the MIT License.
+/// Copyright (c) 2023 Dmitry Ponomarev.
+/// Author: Dmitry Ponomarev <[email protected]>
+
+#include "airspeed.hpp"
+#include "main.h"
+#include "params.hpp"
+
+void DiffPressurePublisher::publish(float pressure) {
+    uavcan_si_sample_pressure_Scalar_1_0 msg;
+    msg.pascal = pressure;
+    msg.timestamp.microsecond = 0;
+
+    static uint8_t buffer[uavcan_si_sample_pressure_Scalar_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
+    size_t buffer_size = uavcan_si_sample_pressure_Scalar_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_;
+    int32_t result = uavcan_si_sample_pressure_Scalar_1_0_serialize_(&msg, buffer, &buffer_size);
+    if (NUNAVUT_SUCCESS == result) {
+        push(buffer_size, buffer);
+    }
+}

Udral/airspeed.hpp

@@ -0,0 +1,17 @@
+/// This software is distributed under the terms of the MIT License.
+/// Copyright (c) 2023 Dmitry Ponomarev.
+/// Author: Dmitry Ponomarev <[email protected]>
+
+#ifndef UDRAL_AIRSPEED_HPP_
+#define UDRAL_AIRSPEED_HPP_
+
+#include "cyphal.hpp"
+#include "uavcan/si/sample/pressure/Scalar_1_0.h"
+
+struct DiffPressurePublisher: public CyphalPublisher {
+    DiffPressurePublisher(Cyphal* driver_, CanardPortID port_id) : CyphalPublisher(driver_, port_id) {};
+    void publish(float pressure);
+};
+
+
+#endif  // UDRAL_AIRSPEED_HPP_