mirror of https://github.com/ArduPilot/ardupilot
125 lines
3.3 KiB
C++
125 lines
3.3 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_BARO_MS5611_H__
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#define __AP_BARO_MS5611_H__
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#include <AP_HAL.h>
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#include "AP_Baro.h"
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#if CONFIG_HAL_BOARD != HAL_BOARD_APM2
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#define MS5611_WITH_I2C 1
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#else
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#define MS5611_WITH_I2C 0
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#endif
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/** Abstract serial device driver for MS5611. */
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class AP_Baro_MS5611_Serial
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{
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public:
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/** Initialize the driver. */
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virtual void init() = 0;
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/** Read a 16-bit value from register "reg". */
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virtual uint16_t read_16bits(uint8_t reg) = 0;
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/** Read a 24-bit value from the ADC. */
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virtual uint32_t read_adc() = 0;
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/** Write a single byte command. */
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virtual void write(uint8_t reg) = 0;
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/** Acquire the internal semaphore for this device.
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* take_nonblocking should be used from the timer process,
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* take_blocking from synchronous code (i.e. init) */
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virtual bool sem_take_nonblocking() { return true; }
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virtual bool sem_take_blocking() { return true; }
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/** Release the internal semaphore for this device. */
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virtual void sem_give() {}
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};
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/** SPI serial device. */
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class AP_Baro_MS5611_SPI : public AP_Baro_MS5611_Serial
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{
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public:
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virtual void init();
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virtual uint16_t read_16bits(uint8_t reg);
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virtual uint32_t read_adc();
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virtual void write(uint8_t reg);
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virtual bool sem_take_nonblocking();
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virtual bool sem_take_blocking();
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virtual void sem_give();
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private:
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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};
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#if MS5611_WITH_I2C
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/** I2C serial device. */
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class AP_Baro_MS5611_I2C : public AP_Baro_MS5611_Serial
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{
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public:
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virtual void init();
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virtual uint16_t read_16bits(uint8_t reg);
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virtual uint32_t read_adc();
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virtual void write(uint8_t reg);
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virtual bool sem_take_nonblocking();
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virtual bool sem_take_blocking();
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virtual void sem_give();
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private:
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AP_HAL::Semaphore *_i2c_sem;
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};
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#endif // MS5611_WITH_I2C
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class AP_Baro_MS5611 : public AP_Baro
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{
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public:
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AP_Baro_MS5611(AP_Baro_MS5611_Serial *serial)
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{
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_serial = serial;
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}
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/* AP_Baro public interface: */
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bool init();
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uint8_t read();
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float get_pressure(); // in mbar*100 units
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float get_temperature(); // in celsius degrees
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/* Serial port drivers to pass to "init". */
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static AP_Baro_MS5611_SPI spi;
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#if MS5611_WITH_I2C
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static AP_Baro_MS5611_I2C i2c;
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#endif
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private:
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void _calculate();
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/* Asynchronous handler functions: */
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void _update();
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/* Asynchronous state: */
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static volatile bool _updated;
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static volatile uint8_t _d1_count;
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static volatile uint8_t _d2_count;
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static volatile uint32_t _s_D1, _s_D2;
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static uint8_t _state;
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static uint32_t _timer;
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static AP_Baro_MS5611_Serial *_serial;
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/* Gates access to asynchronous state: */
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static bool _sync_access;
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float Temp;
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float Press;
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int32_t _raw_press;
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int32_t _raw_temp;
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// Internal calibration registers
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uint16_t C1,C2,C3,C4,C5,C6;
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float D1,D2;
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};
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#endif // __AP_BARO_MS5611_H__
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