ardupilot/libraries/AP_Baro/AP_Baro_ICP201XX.h

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2022-06-24 03:17:22 -03:00
#pragma once
#include "AP_Baro_Backend.h"
#ifndef AP_BARO_ICP201XX_ENABLED
#define AP_BARO_ICP201XX_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
#endif
#if AP_BARO_ICP201XX_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Semaphores.h>
#include <AP_HAL/Device.h>
class AP_Baro_ICP201XX : public AP_Baro_Backend
{
public:
void update() override;
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
private:
AP_Baro_ICP201XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
bool init();
void dummy_reg();
bool read_reg(uint8_t reg, uint8_t *buf, uint8_t len);
bool read_reg(uint8_t reg, uint8_t *val);
bool write_reg(uint8_t reg, uint8_t val);
bool mode_select(uint8_t mode);
bool read_otp_data(uint8_t addr, uint8_t cmd, uint8_t *val);
bool get_sensor_data(float *pressure, float *temperature);
void soft_reset();
bool boot_sequence();
bool configure();
void wait_read();
bool flush_fifo();
void timer();
uint8_t instance;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
// accumulation structure, protected by _sem
struct {
float tsum;
float psum;
uint32_t count;
} accum;
// time last read command was sent
uint32_t last_measure_us;
enum class OP_MODE : uint8_t {
OP_MODE0 = 0, /* Mode 0: Bw:6.25 Hz ODR: 25Hz */
OP_MODE1, /* Mode 1: Bw:30 Hz ODR: 120Hz */
OP_MODE2, /* Mode 2: Bw:10 Hz ODR: 40Hz */
OP_MODE3, /* Mode 3: Bw:0.5 Hz ODR: 2Hz */
OP_MODE4, /* Mode 4: User configurable Mode */
} _op_mode{OP_MODE::OP_MODE2};
enum class FIFO_READOUT_MODE : uint8_t {
FIFO_READOUT_MODE_PRES_TEMP = 0, /* Pressure and temperature as pair and address wraps to the start address of the Pressure value ( pressure first ) */
FIFO_READOUT_MODE_TEMP_ONLY = 1, /* Temperature only reporting */
FIFO_READOUT_MODE_TEMP_PRES = 2, /* Pressure and temperature as pair and address wraps to the start address of the Temperature value ( Temperature first ) */
FIFO_READOUT_MODE_PRES_ONLY = 3 /* Pressure only reporting */
} _fifo_readout_mode{FIFO_READOUT_MODE::FIFO_READOUT_MODE_PRES_TEMP};
enum class POWER_MODE : uint8_t {
POWER_MODE_NORMAL = 0, /* Normal Mode: Device is in standby and goes to active mode during the execution of a measurement */
POWER_MODE_ACTIVE = 1 /* Active Mode: Power on DVDD and enable the high frequency clock */
} _power_mode{POWER_MODE::POWER_MODE_NORMAL};
enum MEAS_MODE : uint8_t {
MEAS_MODE_FORCED_TRIGGER = 0, /* Force trigger mode based on icp201xx_forced_meas_trigger_t **/
MEAS_MODE_CONTINUOUS = 1 /* Continuous measurements based on selected mode ODR settings*/
} _meas_mode{MEAS_MODE::MEAS_MODE_CONTINUOUS};
enum FORCED_MEAS_TRIGGER : uint8_t {
FORCE_MEAS_STANDBY = 0, /* Stay in Stand by */
FORCE_MEAS_TRIGGER_FORCE_MEAS = 1 /* Trigger for forced measurements */
} _forced_meas_trigger{FORCED_MEAS_TRIGGER::FORCE_MEAS_STANDBY};
};
#endif // AP_BARO_ICP201XX_ENABLED