mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.8 KiB
C++
99 lines
2.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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* Driver for 4 LD ... 9 LD line of pressure transducers from Keller:
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* http://www.keller-druck.com/home_e/paprod_e/4ld_e.asp
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*
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* These sensors operate on I2C and come in a variety of form factors.
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* The measurement range is between 0-200 bar depbending on the model.
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* They are definitely not the worlds smallest pressure transmitter.
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*
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* Default address is 0x40.
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*/
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#pragma once
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#include "AP_Baro_Backend.h"
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#ifndef AP_BARO_KELLERLD_ENABLED
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#define AP_BARO_KELLERLD_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
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#endif
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#if AP_BARO_KELLERLD_ENABLED
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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_KELLERLD_I2C_ADDR
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#define HAL_BARO_KELLERLD_I2C_ADDR 0x40
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#endif
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class AP_Baro_KellerLD : public AP_Baro_Backend
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{
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public:
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void update() override;
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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private:
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AP_Baro_KellerLD(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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bool _init();
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void _timer();
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bool _read();
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void _update_and_wrap_accumulator(uint16_t pressure, uint16_t temperature, uint8_t max_count);
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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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/* These are raw outputs, not calculated values */
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struct {
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uint32_t sum_pressure;
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uint32_t sum_temperature;
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uint8_t num_samples;
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} _accum;
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uint8_t _instance;
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enum class SensorMode {
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PR_MODE = 0, // Vented gauge
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PA_MODE = 1, // Sealed gauge
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PAA_MODE = 2, // Absolute
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UNDEFINED = 3,
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};
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// to store sensor mode
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SensorMode _p_mode;
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// Model-specific offset/calibration values stored in device ROM
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// pressure offset used in pressure calculation
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float _p_mode_offset;
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// measurement range parameters used in pressure calculation
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float _p_min;
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float _p_max;
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// helpers for reading out calibration information:
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bool transfer_with_delays(uint8_t *send, uint8_t sendlen, uint8_t *recv, uint8_t recvlen);
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bool read_measurement_limit(float *limit, uint8_t msb_addr, uint8_t lsb_addr);
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bool read_cal();
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bool read_mode_type();
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};
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#endif // AP_BARO_KELLERLD_ENABLED
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