mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.1 KiB
C++
88 lines
2.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include "AP_Baro_Backend.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_HAL/Device.h>
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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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void update();
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protected:
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/*
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* Update @accum and @count with the new sample in @val, taking into
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* account a maximum number of samples given by @max_count; in case
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* maximum number is reached, @accum and @count are updated appropriately
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*/
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static void _update_and_wrap_accumulator(uint32_t *accum, uint32_t val,
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uint8_t *count, uint8_t max_count);
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AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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void _init();
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virtual void _calculate() = 0;
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virtual bool _read_prom(uint16_t prom[8]);
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uint16_t _read_prom_word(uint8_t word);
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uint32_t _read_adc();
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bool _timer();
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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/*
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* Synchronize access to _accum between thread sampling the HW and main
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* thread using the values
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*/
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AP_HAL::Semaphore *_sem;
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/* Shared values between thread sampling the HW and main thread */
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struct {
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uint32_t s_D1;
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uint32_t s_D2;
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uint8_t d1_count;
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uint8_t d2_count;
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} _accum;
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uint8_t _state;
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uint8_t _instance;
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uint32_t _last_cmd_usec;
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/* Last compensated values from accumulated sample */
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float _D1, _D2;
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// Internal calibration registers
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struct {
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uint16_t c1, c2, c3, c4, c5, c6;
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} _cal_reg;
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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_HAL::OwnPtr<AP_HAL::Device> dev);
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protected:
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void _calculate() override;
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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_HAL::OwnPtr<AP_HAL::Device> dev);
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protected:
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void _calculate() override;
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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_HAL::OwnPtr<AP_HAL::Device> dev);
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protected:
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void _calculate() override;
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bool _read_prom(uint16_t prom[8]) override;
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};
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