ardupilot/libraries/AP_Airspeed/AP_Airspeed_MS5525.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
backend driver for airspeed from I2C
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_HAL/utility/OwnPtr.h>
#include <AP_HAL/I2CDevice.h>
#include <utility>
#include "AP_Airspeed_Backend.h"
#include <AP_HAL/I2CDevice.h>
class AP_Airspeed_MS5525 : public AP_Airspeed_Backend
{
public:
enum MS5525_ADDR {
MS5525_ADDR_1 = 0,
MS5525_ADDR_2 = 1,
MS5525_ADDR_AUTO = 255, // does not need to be 255, just needs to be out of the address array
};
AP_Airspeed_MS5525(AP_Airspeed &frontend, uint8_t _instance, MS5525_ADDR address);
~AP_Airspeed_MS5525(void) {}
// probe and initialise the sensor
bool init() override;
// return the current differential_pressure in Pascal
bool get_differential_pressure(float &pressure) override;
// return the current temperature in degrees C, if available
bool get_temperature(float &temperature) override;
private:
void measure();
void collect();
void timer();
bool read_prom(void);
uint16_t crc4_prom(void);
int32_t read_adc();
void calculate();
float pressure;
float temperature;
float temperature_sum;
float pressure_sum;
uint32_t temp_count;
uint32_t press_count;
uint32_t last_sample_time_ms;
uint16_t prom[8];
uint8_t state;
int32_t D1;
int32_t D2;
uint32_t command_send_us;
bool ignore_next;
uint8_t cmd_sent;
MS5525_ADDR _address;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
};