ardupilot/libraries/AP_Baro/AP_Baro_KellerLD.h

99 lines
2.8 KiB
C++

/*
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/>.
* Driver for 4 LD ... 9 LD line of pressure transducers from Keller:
* http://www.keller-druck.com/home_e/paprod_e/4ld_e.asp
*
* These sensors operate on I2C and come in a variety of form factors.
* The measurement range is between 0-200 bar depbending on the model.
* They are definitely not the worlds smallest pressure transmitter.
*
* Default address is 0x40.
*/
#pragma once
#include "AP_Baro_Backend.h"
#ifndef AP_BARO_KELLERLD_ENABLED
#define AP_BARO_KELLERLD_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
#endif
#if AP_BARO_KELLERLD_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Semaphores.h>
#include <AP_HAL/Device.h>
#ifndef HAL_BARO_KELLERLD_I2C_ADDR
#define HAL_BARO_KELLERLD_I2C_ADDR 0x40
#endif
class AP_Baro_KellerLD : public AP_Baro_Backend
{
public:
void update() override;
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
private:
AP_Baro_KellerLD(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
bool _init();
void _timer();
bool _read();
void _update_and_wrap_accumulator(uint16_t pressure, uint16_t temperature, uint8_t max_count);
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
/* Shared values between thread sampling the HW and main thread */
/* These are raw outputs, not calculated values */
struct {
uint32_t sum_pressure;
uint32_t sum_temperature;
uint8_t num_samples;
} _accum;
uint8_t _instance;
enum class SensorMode {
PR_MODE = 0, // Vented gauge
PA_MODE = 1, // Sealed gauge
PAA_MODE = 2, // Absolute
UNDEFINED = 3,
};
// to store sensor mode
SensorMode _p_mode;
// Model-specific offset/calibration values stored in device ROM
// pressure offset used in pressure calculation
float _p_mode_offset;
// measurement range parameters used in pressure calculation
float _p_min;
float _p_max;
// helpers for reading out calibration information:
bool transfer_with_delays(uint8_t *send, uint8_t sendlen, uint8_t *recv, uint8_t recvlen);
bool read_measurement_limit(float *limit, uint8_t msb_addr, uint8_t lsb_addr);
bool read_cal();
bool read_mode_type();
};
#endif // AP_BARO_KELLERLD_ENABLED