ardupilot/libraries/AP_Baro/AP_Baro_MS5611.h

81 lines
1.9 KiB
C++

#pragma once
#include "AP_Baro_Backend.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Semaphores.h>
#include <AP_HAL/Device.h>
#ifndef HAL_BARO_MS5611_I2C_ADDR
#define HAL_BARO_MS5611_I2C_ADDR 0x77
#endif
#ifndef HAL_BARO_MS5837_I2C_ADDR
#define HAL_BARO_MS5837_I2C_ADDR 0x76
#endif
class AP_Baro_MS56XX : public AP_Baro_Backend
{
public:
void update();
enum MS56XX_TYPE {
BARO_MS5611 = 0,
BARO_MS5607 = 1,
BARO_MS5637 = 2,
BARO_MS5837 = 3
};
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type = BARO_MS5611);
private:
/*
* Update @accum and @count with the new sample in @val, taking into
* account a maximum number of samples given by @max_count; in case
* maximum number is reached, @accum and @count are updated appropriately
*/
static void _update_and_wrap_accumulator(uint32_t *accum, uint32_t val,
uint8_t *count, uint8_t max_count);
AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type);
bool _init();
void _calculate_5611();
void _calculate_5607();
void _calculate_5637();
void _calculate_5837();
bool _read_prom_5611(uint16_t prom[8]);
bool _read_prom_5637(uint16_t prom[8]);
uint16_t _read_prom_word(uint8_t word);
uint32_t _read_adc();
void _timer();
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
/* Shared values between thread sampling the HW and main thread */
struct {
uint32_t s_D1;
uint32_t s_D2;
uint8_t d1_count;
uint8_t d2_count;
} _accum;
uint8_t _state;
uint8_t _instance;
/* Last compensated values from accumulated sample */
float _D1, _D2;
// Internal calibration registers
struct {
uint16_t c1, c2, c3, c4, c5, c6;
} _cal_reg;
bool _discard_next;
enum MS56XX_TYPE _ms56xx_type;
};