ardupilot/libraries/AP_Baro/AP_Baro_MS5611.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_BARO_MS5611_H__
#define __AP_BARO_MS5611_H__
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#include <AP_HAL.h>
#include "AP_Baro.h"
#define MS5611_I2C_ADDR 0x77
/** Abstract serial bus device driver for I2C/SPI. */
class AP_SerialBus
{
public:
/** Initialize the driver. */
virtual void init() = 0;
/** Read a 16-bit value from register "reg". */
virtual uint16_t read_16bits(uint8_t reg) = 0;
/** Read a 24-bit value */
virtual uint32_t read_24bits(uint8_t reg) = 0;
/** Write to a register with no data. */
virtual void write(uint8_t reg) = 0;
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/** Acquire the internal semaphore for this device.
* take_nonblocking should be used from the timer process,
* take_blocking from synchronous code (i.e. init) */
virtual bool sem_take_nonblocking() = 0;
virtual bool sem_take_blocking() = 0;
/** Release the internal semaphore for this device. */
virtual void sem_give() = 0;
};
/** SPI serial device. */
class AP_SerialBus_SPI : public AP_SerialBus
{
public:
AP_SerialBus_SPI(enum AP_HAL::SPIDevice device, enum AP_HAL::SPIDeviceDriver::bus_speed speed);
void init();
uint16_t read_16bits(uint8_t reg);
uint32_t read_24bits(uint8_t reg);
uint32_t read_adc(uint8_t reg);
void write(uint8_t reg);
bool sem_take_nonblocking();
bool sem_take_blocking();
void sem_give();
private:
enum AP_HAL::SPIDeviceDriver::bus_speed _speed;
enum AP_HAL::SPIDevice _device;
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
};
/** I2C serial device. */
class AP_SerialBus_I2C : public AP_SerialBus
{
public:
AP_SerialBus_I2C(uint8_t addr);
void init();
uint16_t read_16bits(uint8_t reg);
uint32_t read_24bits(uint8_t reg);
void write(uint8_t reg);
bool sem_take_nonblocking();
bool sem_take_blocking();
void sem_give();
private:
uint8_t _addr;
AP_HAL::Semaphore *_i2c_sem;
};
class AP_Baro_MS5611 : public AP_Baro_Backend
{
public:
AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
void update();
void accumulate();
private:
AP_SerialBus *_serial;
uint8_t _instance;
void _calculate();
bool _check_crc();
void _timer();
/* Asynchronous state: */
volatile bool _updated;
volatile uint8_t _d1_count;
volatile uint8_t _d2_count;
volatile uint32_t _s_D1, _s_D2;
uint8_t _state;
uint32_t _last_timer;
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bool _use_timer;
// Internal calibration registers
uint16_t C1,C2,C3,C4,C5,C6;
float D1,D2;
};
#endif // __AP_BARO_MS5611_H__