mirror of https://github.com/ArduPilot/ardupilot
92 lines
1.9 KiB
C++
92 lines
1.9 KiB
C++
#pragma once
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#include "SIM_I2CDevice.h"
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#include <AP_Common/Bitmask.h>
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namespace SITL {
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class MS5XXX : public I2CDevice
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{
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public:
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MS5XXX();
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protected:
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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void update(const class Aircraft &aircraft) override;
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private:
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// float pressure;
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// float temperature;
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// time we last updated the measurements (simulated internal
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// workings of sensor)
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uint32_t last_update_ms;
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void reset();
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enum class Command : uint8_t {
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RESET = 0x1E,
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READ_CONVERSION = 0x00,
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// prom reading commands:
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READ_C0 = 0xa0,
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READ_C1 = 0xa2,
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READ_C2 = 0xa4,
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READ_C3 = 0xa6,
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READ_C4 = 0xa8,
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READ_C5 = 0xaa,
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READ_C6 = 0xac,
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READ_CRC = 0xae,
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// conversion start commands:
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CONVERT_D2_OSR_1024 = 0x54,
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CONVERT_D1_OSR_1024 = 0x44,
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};
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enum class State : uint8_t {
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COLD = 5,
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COLD_WAIT = 6,
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UNINITIALISED = 7,
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RUNNING = 17,
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RESET_START = 27,
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RESET_WAIT = 28,
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CONVERSION_D1_START = 37,
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CONVERSION_D1_WAIT = 38,
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CONVERSION_D2_START = 47,
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CONVERSION_D2_WAIT = 48,
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};
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State state = State::COLD;
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uint32_t command_start_us;
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uint8_t convert_out[3];
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bool prom_loaded = false;
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uint16_t loaded_prom[128/16];
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virtual void load_prom(uint16_t *loaded_prom, uint8_t len) const = 0;
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uint16_t conversion_time_osr_1024_us = 2280;
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virtual void convert(float P_Pa, float Temp_C, uint32_t &D1, uint32_t &D2) =0;
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virtual void convert_forward(int32_t D1, int32_t D2, float &P_Pa, float &Temp_C) = 0;
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virtual void get_pressure_temperature_readings(float &P_Pa, float &Temp_C) = 0;
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virtual void check_conversion_accuracy(float P_Pa, float Temp_C, uint32_t D1, uint32_t D2) = 0;
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void convert_D1();
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void convert_D2();
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};
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} // namespace SITL
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