From f29e4072ff28b227fc6deeb38ded1757928fae75 Mon Sep 17 00:00:00 2001
From: PonomarevDA <ponomarevda96@gmail.com>
Date: Mon, 9 Oct 2023 18:44:18 +0300
Subject: [PATCH] add diff pressure

---
 Udral/airspeed.cpp | 20 ++++++++++++++++++++
 Udral/airspeed.hpp | 17 +++++++++++++++++
 2 files changed, 37 insertions(+)
 create mode 100644 Udral/airspeed.cpp
 create mode 100644 Udral/airspeed.hpp

diff --git a/Udral/airspeed.cpp b/Udral/airspeed.cpp
new file mode 100644
index 0000000..f52d227
--- /dev/null
+++ b/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 <ponomarevda96@gmail.com>
+
+#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);
+    }
+}
diff --git a/Udral/airspeed.hpp b/Udral/airspeed.hpp
new file mode 100644
index 0000000..4eb8696
--- /dev/null
+++ b/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 <ponomarevda96@gmail.com>
+
+#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_