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