ardupilot/libraries/SITL/SIM_MS5XXX.h

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#pragma once
#include "SIM_I2CDevice.h"
#include <AP_Common/Bitmask.h>
namespace SITL {
class MS5XXX : public I2CDevice
{
public:
MS5XXX();
protected:
int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
void update(const class Aircraft &aircraft) override;
private:
// float pressure;
// float temperature;
void reset();
enum class Command : uint8_t {
RESET = 0x1E,
READ_CONVERSION = 0x00,
// prom reading commands:
READ_C0 = 0xa0,
READ_C1 = 0xa2,
READ_C2 = 0xa4,
READ_C3 = 0xa6,
READ_C4 = 0xa8,
READ_C5 = 0xaa,
READ_C6 = 0xac,
READ_CRC = 0xae,
// conversion start commands:
CONVERT_D2_OSR_1024 = 0x54,
CONVERT_D1_OSR_1024 = 0x44,
};
enum class State : uint8_t {
COLD = 5,
COLD_WAIT = 6,
UNINITIALISED = 7,
RUNNING = 17,
RESET_START = 27,
RESET_WAIT = 28,
CONVERSION_D1_START = 37,
CONVERSION_D1_WAIT = 38,
CONVERSION_D2_START = 47,
CONVERSION_D2_WAIT = 48,
};
State state = State::COLD;
uint32_t command_start_us;
uint8_t convert_out[3];
bool prom_loaded = false;
uint16_t loaded_prom[128/16];
virtual void load_prom(uint16_t *loaded_prom, uint8_t len) const = 0;
uint16_t conversion_time_osr_1024_us = 2280;
virtual void convert(float P_Pa, float Temp_C, uint32_t &D1, uint32_t &D2) =0;
virtual void convert_forward(int32_t D1, int32_t D2, float &P_Pa, float &Temp_C) = 0;
virtual void get_pressure_temperature_readings(float &P_Pa, float &Temp_C) = 0;
virtual void check_conversion_accuracy(float P_Pa, float Temp_C, uint32_t D1, uint32_t D2) = 0;
void convert_D1();
void convert_D2();
};
} // namespace SITL