mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.0 KiB
C++
83 lines
2.0 KiB
C++
#pragma once
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#include "AP_Baro_Backend.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_HAL/Device.h>
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#ifndef HAL_BARO_MS5611_I2C_ADDR
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#endif
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#ifndef HAL_BARO_MS5837_I2C_ADDR
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#define HAL_BARO_MS5837_I2C_ADDR 0x76
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#endif
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class AP_Baro_MS56XX : public AP_Baro_Backend
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{
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public:
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void update();
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enum MS56XX_TYPE {
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BARO_MS5611 = 0,
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BARO_MS5607 = 1,
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BARO_MS5637 = 2,
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BARO_MS5837 = 3
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};
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type = BARO_MS5611);
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static uint16_t crc4(uint16_t *data);
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private:
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/*
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* Update @accum and @count with the new sample in @val, taking into
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* account a maximum number of samples given by @max_count; in case
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* maximum number is reached, @accum and @count are updated appropriately
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*/
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static void _update_and_wrap_accumulator(uint32_t *accum, uint32_t val,
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uint8_t *count, uint8_t max_count);
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AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type);
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bool _init();
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void _calculate_5611();
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void _calculate_5607();
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void _calculate_5637();
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void _calculate_5837();
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bool _read_prom_5611(uint16_t prom[8]);
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bool _read_prom_5637(uint16_t prom[8]);
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uint16_t _read_prom_word(uint8_t word);
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uint32_t _read_adc();
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void _timer();
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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/* Shared values between thread sampling the HW and main thread */
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struct {
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uint32_t s_D1;
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uint32_t s_D2;
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uint8_t d1_count;
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uint8_t d2_count;
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} _accum;
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uint8_t _state;
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uint8_t _instance;
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/* Last compensated values from accumulated sample */
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float _D1, _D2;
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// Internal calibration registers
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struct {
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uint16_t c1, c2, c3, c4, c5, c6;
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} _cal_reg;
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bool _discard_next;
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enum MS56XX_TYPE _ms56xx_type;
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};
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