ardupilot/libraries/AP_Baro/AP_Baro_MS5611.h

130 lines
3.4 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_BARO_MS5611_H__
#define __AP_BARO_MS5611_H__
#include <AP_HAL.h>
#include "AP_Baro.h"
#if CONFIG_HAL_BOARD != HAL_BOARD_APM2 && CONFIG_HAL_BOARD != HAL_BOARD_APM1
#define MS5611_WITH_I2C 1
#else
#define MS5611_WITH_I2C 0
#endif
/** Abstract serial device driver for MS5611. */
class AP_Baro_MS5611_Serial
{
public:
/** Initialize the driver. */
virtual void init() = 0;
/** Read a 16-bit value from register "reg". */
virtual uint16_t read_16bits(uint8_t reg) = 0;
/** Read a 24-bit value from the ADC. */
virtual uint32_t read_adc() = 0;
/** Write a single byte command. */
virtual void write(uint8_t reg) = 0;
/** Acquire the internal semaphore for this device.
* take_nonblocking should be used from the timer process,
* take_blocking from synchronous code (i.e. init) */
virtual bool sem_take_nonblocking() { return true; }
virtual bool sem_take_blocking() { return true; }
/** Release the internal semaphore for this device. */
virtual void sem_give() {}
};
/** SPI serial device. */
class AP_Baro_MS5611_SPI : public AP_Baro_MS5611_Serial
{
public:
virtual void init();
virtual uint16_t read_16bits(uint8_t reg);
virtual uint32_t read_adc();
virtual void write(uint8_t reg);
virtual bool sem_take_nonblocking();
virtual bool sem_take_blocking();
virtual void sem_give();
private:
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
};
#if MS5611_WITH_I2C
/** I2C serial device. */
class AP_Baro_MS5611_I2C : public AP_Baro_MS5611_Serial
{
public:
virtual void init();
virtual uint16_t read_16bits(uint8_t reg);
virtual uint32_t read_adc();
virtual void write(uint8_t reg);
virtual bool sem_take_nonblocking();
virtual bool sem_take_blocking();
virtual void sem_give();
private:
AP_HAL::Semaphore *_i2c_sem;
};
#endif // MS5611_WITH_I2C
class AP_Baro_MS5611 : public AP_Baro
{
public:
AP_Baro_MS5611(AP_Baro_MS5611_Serial *serial)
{
_serial = serial;
}
/* AP_Baro public interface: */
bool init();
uint8_t read();
float get_pressure(); // in mbar*100 units
float get_temperature() const; // in celsius degrees
/* Serial port drivers to pass to "init". */
static AP_Baro_MS5611_SPI spi;
#if MS5611_WITH_I2C
static AP_Baro_MS5611_I2C i2c;
#endif
private:
void _calculate();
/* Asynchronous handler functions: */
void _update();
#if CONFIG_HAL_BOARD != HAL_BOARD_APM2
bool check_crc(void);
#endif
/* Asynchronous state: */
static volatile bool _updated;
static volatile uint8_t _d1_count;
static volatile uint8_t _d2_count;
static volatile uint32_t _s_D1, _s_D2;
static uint8_t _state;
static uint32_t _timer;
static AP_Baro_MS5611_Serial *_serial;
/* Gates access to asynchronous state: */
static bool _sync_access;
float Temp;
float Press;
int32_t _raw_press;
int32_t _raw_temp;
// Internal calibration registers
uint16_t C1,C2,C3,C4,C5,C6;
float D1,D2;
};
#endif // __AP_BARO_MS5611_H__