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