mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.9 KiB
C++
76 lines
1.9 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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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef AP_AIRSPEED_SDP3X_ENABLED
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#define AP_AIRSPEED_SDP3X_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
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#endif
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#if AP_AIRSPEED_SDP3X_ENABLED
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/*
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backend driver for airspeed from I2C
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*/
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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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#include "AP_Airspeed.h"
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/*
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* Thanks to PX4 for registers definitions
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*/
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class AP_Airspeed_SDP3X : public AP_Airspeed_Backend
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{
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public:
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using AP_Airspeed_Backend::AP_Airspeed_Backend;
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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 _timer();
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bool _send_command(uint16_t cmd);
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bool _crc(const uint8_t data[], uint8_t size, uint8_t checksum);
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float _correct_pressure(float press);
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float _temp;
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float _press;
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uint16_t _temp_count;
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uint16_t _press_count;
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float _temp_sum;
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float _press_sum;
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uint32_t _last_sample_time_ms;
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uint16_t _scale;
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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};
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#endif // AP_AIRSPEED_SDP3X_ENABLED
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