mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.4 KiB
C++
66 lines
1.4 KiB
C++
#include "SIM_I2CDevice.h"
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/*
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Simulator for the TSYS01 temperature sensor
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduSub -A --speedup=1
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*/
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namespace SITL {
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class TSYS01 : public I2CDevice
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{
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public:
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void update(const class Aircraft &aircraft) override;
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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private:
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// should be a call on aircraft:
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float last_temperature = -1000.0f;
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enum class State {
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UNKNOWN = 22,
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RESET = 23,
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READ_PROM = 24,
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IDLE = 25,
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CONVERTING = 26,
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CONVERTED = 27,
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} state = State::RESET;
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uint32_t state_start_time_ms;
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void set_state(State new_state) {
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state = new_state;
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state_start_time_ms = AP_HAL::millis();
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}
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uint32_t time_in_state_ms() const {
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return AP_HAL::millis() - state_start_time_ms;
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}
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float get_sim_temperature() const;
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float temperature_for_adc(uint32_t adc) const;
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uint32_t calculate_adc(float temperature) const;
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uint32_t adc;
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enum class Command {
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RESET = 0x1E,
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READ_PROM0 = 0xA0,
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READ_PROM1 = 0xA2,
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READ_PROM2 = 0xA4,
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READ_PROM3 = 0xA6,
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READ_PROM4 = 0xA8,
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READ_PROM5 = 0xAA,
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CONVERT = 0x40,
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READ_ADC = 0x00,
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};
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static constexpr int32_t _k[] { 40781, 32791, 36016, 24926, 28446 };
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};
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} // namespace SITL
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