mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.2 KiB
C++
84 lines
2.2 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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*/
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#pragma once
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/*
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backend driver for airspeed from I2C
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*/
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#include "AP_Airspeed_config.h"
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#if AP_AIRSPEED_MS5525_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include <AP_HAL/I2CDevice.h>
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#include <utility>
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#include "AP_Airspeed_Backend.h"
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class AP_Airspeed_MS5525 : public AP_Airspeed_Backend
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{
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public:
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enum MS5525_ADDR {
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MS5525_ADDR_1 = 0,
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MS5525_ADDR_2 = 1,
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MS5525_ADDR_AUTO = 255, // does not need to be 255, just needs to be out of the address array
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};
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AP_Airspeed_MS5525(AP_Airspeed &frontend, uint8_t _instance, MS5525_ADDR address);
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~AP_Airspeed_MS5525(void) {}
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// probe and initialise the sensor
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bool init() override;
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// return the current differential_pressure in Pascal
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bool get_differential_pressure(float &pressure) override;
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// return the current temperature in degrees C, if available
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bool get_temperature(float &temperature) override;
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private:
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void measure();
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void collect();
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void timer();
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bool read_prom(void);
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uint16_t crc4_prom(void);
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int32_t read_adc();
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void calculate();
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float pressure;
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float temperature;
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float temperature_sum;
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float pressure_sum;
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uint32_t temp_count;
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uint32_t press_count;
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uint32_t last_sample_time_ms;
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uint16_t prom[8];
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uint8_t state;
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int32_t D1;
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int32_t D2;
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uint32_t command_send_us;
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bool ignore_next;
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uint8_t cmd_sent;
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MS5525_ADDR _address;
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
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};
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#endif // AP_AIRSPEED_MS5525_ENABLED
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