mirror of https://github.com/ArduPilot/ardupilot
88 lines
1.8 KiB
C++
88 lines
1.8 KiB
C++
#pragma once
|
|
|
|
#include "SIM_I2CDevice.h"
|
|
|
|
#include <AP_Common/Bitmask.h>
|
|
|
|
namespace SITL {
|
|
|
|
class MS5XXX : public I2CDevice
|
|
{
|
|
public:
|
|
|
|
MS5XXX();
|
|
|
|
protected:
|
|
|
|
int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
|
|
|
|
void update(const class Aircraft &aircraft) override;
|
|
|
|
private:
|
|
|
|
// float pressure;
|
|
// float temperature;
|
|
|
|
void reset();
|
|
|
|
enum class Command : uint8_t {
|
|
RESET = 0x1E,
|
|
|
|
READ_CONVERSION = 0x00,
|
|
|
|
// prom reading commands:
|
|
READ_C0 = 0xa0,
|
|
READ_C1 = 0xa2,
|
|
READ_C2 = 0xa4,
|
|
READ_C3 = 0xa6,
|
|
READ_C4 = 0xa8,
|
|
READ_C5 = 0xaa,
|
|
READ_C6 = 0xac,
|
|
READ_CRC = 0xae,
|
|
|
|
// conversion start commands:
|
|
CONVERT_D2_OSR_1024 = 0x54,
|
|
CONVERT_D1_OSR_1024 = 0x44,
|
|
};
|
|
|
|
enum class State : uint8_t {
|
|
COLD = 5,
|
|
COLD_WAIT = 6,
|
|
|
|
UNINITIALISED = 7,
|
|
|
|
RUNNING = 17,
|
|
|
|
RESET_START = 27,
|
|
RESET_WAIT = 28,
|
|
|
|
CONVERSION_D1_START = 37,
|
|
CONVERSION_D1_WAIT = 38,
|
|
|
|
CONVERSION_D2_START = 47,
|
|
CONVERSION_D2_WAIT = 48,
|
|
};
|
|
|
|
State state = State::COLD;
|
|
|
|
uint32_t command_start_us;
|
|
|
|
uint8_t convert_out[3];
|
|
|
|
bool prom_loaded = false;
|
|
uint16_t loaded_prom[128/16];
|
|
virtual void load_prom(uint16_t *loaded_prom, uint8_t len) const = 0;
|
|
|
|
uint16_t conversion_time_osr_1024_us = 2280;
|
|
|
|
virtual void convert(float P_Pa, float Temp_C, uint32_t &D1, uint32_t &D2) =0;
|
|
virtual void convert_forward(int32_t D1, int32_t D2, float &P_Pa, float &Temp_C) = 0;
|
|
virtual void get_pressure_temperature_readings(float &P_Pa, float &Temp_C) = 0;
|
|
virtual void check_conversion_accuracy(float P_Pa, float Temp_C, uint32_t D1, uint32_t D2) = 0;
|
|
|
|
void convert_D1();
|
|
void convert_D2();
|
|
};
|
|
|
|
} // namespace SITL
|