/* 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 . */ #pragma once /* backend driver for airspeed from I2C */ #include #include #include #include #include #include "AP_Airspeed_Backend.h" #include 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, 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 dev; };