mirror of https://github.com/ArduPilot/ardupilot
82 lines
1.7 KiB
C++
82 lines
1.7 KiB
C++
#include "SIM_config.h"
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#if AP_SIM_TSYS03_ENABLED
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#include "SIM_I2CDevice.h"
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/*
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Simulator for the TSYS03 temperature sensor
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -f Callisto -A --speedup=1
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param set TEMP1_TYPE 4
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param fetch
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param set TEMP1_BUS 2
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param set TEMP1_SRC 3
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param set TEMP1_SRC_ID 1
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graph BATTERY_STATUS.temperature*0.01
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reboot
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arm throttle
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rc 3 2000
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fly around, check BAT[0].temperature
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*/
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namespace SITL {
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class TSYS03 : 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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int rdwr_handle_read(I2C::i2c_rdwr_ioctl_data *&data);
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int rdwr_handle_write(I2C::i2c_rdwr_ioctl_data *&data);
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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_SERIAL = 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 class Aircraft &aircraft) const;
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float temperature_for_adc(uint16_t adc) const;
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uint16_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_SERIAL = 0x0A,
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CONVERT = 0x46,
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READ_ADC = 0x00,
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};
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static constexpr uint8_t serial[] { 0xAB, 0xCD, 0xEF };
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};
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} // namespace SITL
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#endif // AP_SIM_TSYS03_ENABLED
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