ardupilot/libraries/AP_Airspeed/AP_Airspeed_I2C.h

58 lines
1.6 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/>.
*/
#pragma once
/*
backend driver for airspeed from I2C
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_HAL/utility/OwnPtr.h>
#include <AP_HAL/I2CDevice.h>
#include <utility>
#include "AP_Airspeed_Backend.h"
#include <AP_HAL/I2CDevice.h>
class AP_Airspeed_I2C : public AP_Airspeed_Backend
{
public:
AP_Airspeed_I2C(const AP_Float &psi_range);
~AP_Airspeed_I2C(void) {}
// probe and initialise the sensor
bool init();
// return the current differential_pressure in Pascal
bool get_differential_pressure(float &pressure);
// return the current temperature in degrees C, if available
bool get_temperature(float &temperature);
private:
void _measure();
void _collect();
bool _timer();
void _voltage_correction(float &diff_press_pa, float &temperature);
float _temperature;
float _pressure;
uint32_t _last_sample_time_ms;
uint32_t _measurement_started_ms;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
const AP_Float &_psi_range;
};