ardupilot/libraries/AP_Airspeed/AP_Airspeed_SDP3X.h

76 lines
1.9 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_AIRSPEED_SDP3X_ENABLED
#define AP_AIRSPEED_SDP3X_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
#endif
#if AP_AIRSPEED_SDP3X_ENABLED
/*
backend driver for airspeed from I2C
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/OwnPtr.h>
#include <AP_HAL/I2CDevice.h>
#include <utility>
#include "AP_Airspeed_Backend.h"
#include "AP_Airspeed.h"
/*
* Thanks to PX4 for registers definitions
*/
class AP_Airspeed_SDP3X : public AP_Airspeed_Backend
{
public:
using AP_Airspeed_Backend::AP_Airspeed_Backend;
// probe and initialise the sensor
bool init() override;
// return the current differential_pressure in Pascal
bool get_differential_pressure(float &pressure) override;
// return the current temperature in degrees C, if available
bool get_temperature(float &temperature) override;
private:
void _timer();
bool _send_command(uint16_t cmd);
bool _crc(const uint8_t data[], uint8_t size, uint8_t checksum);
float _correct_pressure(float press);
float _temp;
float _press;
uint16_t _temp_count;
uint16_t _press_count;
float _temp_sum;
float _press_sum;
uint32_t _last_sample_time_ms;
uint16_t _scale;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};
#endif // AP_AIRSPEED_SDP3X_ENABLED