mirror of https://github.com/ArduPilot/ardupilot
131 lines
3.2 KiB
C++
131 lines
3.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_BARO_MS5611_H__
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#define __AP_BARO_MS5611_H__
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Baro.h"
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/** Abstract serial bus device driver for I2C/SPI. */
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class AP_SerialBus
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{
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public:
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/** Initialize the driver. */
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virtual void init() = 0;
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/** Read a 16-bit value from register "reg". */
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virtual uint16_t read_16bits(uint8_t reg) = 0;
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/** Read a 24-bit value */
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virtual uint32_t read_24bits(uint8_t reg) = 0;
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/** Write to a register with no data. */
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virtual bool write(uint8_t reg) = 0;
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/** Acquire the internal semaphore for this device.
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* take_nonblocking should be used from the timer process,
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* take_blocking from synchronous code (i.e. init) */
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virtual bool sem_take_nonblocking() = 0;
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virtual bool sem_take_blocking() = 0;
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/** Release the internal semaphore for this device. */
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virtual void sem_give() = 0;
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};
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/** SPI serial device. */
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class AP_SerialBus_SPI : public AP_SerialBus
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{
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public:
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AP_SerialBus_SPI(enum AP_HAL::SPIDevice device, enum AP_HAL::SPIDeviceDriver::bus_speed speed);
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void init();
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uint16_t read_16bits(uint8_t reg);
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uint32_t read_24bits(uint8_t reg);
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uint32_t read_adc(uint8_t reg);
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bool write(uint8_t reg);
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bool sem_take_nonblocking();
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bool sem_take_blocking();
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void sem_give();
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private:
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enum AP_HAL::SPIDevice _device;
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enum AP_HAL::SPIDeviceDriver::bus_speed _speed;
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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};
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/** I2C serial device. */
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class AP_SerialBus_I2C : public AP_SerialBus
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{
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public:
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AP_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
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void init();
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uint16_t read_16bits(uint8_t reg);
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uint32_t read_24bits(uint8_t reg);
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bool write(uint8_t reg);
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bool sem_take_nonblocking();
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bool sem_take_blocking();
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void sem_give();
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private:
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AP_HAL::I2CDriver *_i2c;
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uint8_t _addr;
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AP_HAL::Semaphore *_i2c_sem;
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};
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class AP_Baro_MS56XX : public AP_Baro_Backend
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{
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public:
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AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
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void update();
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void accumulate();
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private:
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virtual void _calculate() = 0;
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AP_SerialBus *_serial;
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bool _check_crc();
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void _timer();
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/* Asynchronous state: */
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volatile bool _updated;
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volatile uint8_t _d1_count;
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volatile uint8_t _d2_count;
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volatile uint32_t _s_D1, _s_D2;
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uint8_t _state;
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uint32_t _last_timer;
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bool _use_timer;
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protected:
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// Internal calibration registers
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uint16_t _C1,_C2,_C3,_C4,_C5,_C6;
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float _D1,_D2;
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uint8_t _instance;
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};
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class AP_Baro_MS5611 : public AP_Baro_MS56XX
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{
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public:
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AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
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private:
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void _calculate();
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};
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class AP_Baro_MS5607 : public AP_Baro_MS56XX
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{
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public:
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AP_Baro_MS5607(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
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private:
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void _calculate();
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};
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class AP_Baro_MS5637 : public AP_Baro_MS56XX
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{
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public:
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AP_Baro_MS5637(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
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private:
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void _calculate();
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};
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#endif // __AP_BARO_MS5611_H__
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