mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.1 KiB
C++
80 lines
2.1 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
|
|
|
|
/*
|
|
backend driver for airspeed from I2C
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
#include <AP_HAL/I2CDevice.h>
|
|
#include <utility>
|
|
|
|
#include "AP_Airspeed_Backend.h"
|
|
#include <AP_HAL/I2CDevice.h>
|
|
|
|
class AP_Airspeed_MS5525 : public AP_Airspeed_Backend
|
|
{
|
|
public:
|
|
enum MS5525_ADDR {
|
|
MS5525_ADDR_1 = 0,
|
|
MS5525_ADDR_2 = 1,
|
|
MS5525_ADDR_AUTO = 255, // does not need to be 255, just needs to be out of the address array
|
|
};
|
|
|
|
AP_Airspeed_MS5525(AP_Airspeed &frontend, MS5525_ADDR address);
|
|
~AP_Airspeed_MS5525(void) {}
|
|
|
|
// 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 measure();
|
|
void collect();
|
|
void timer();
|
|
bool read_prom(void);
|
|
uint16_t crc4_prom(void);
|
|
int32_t read_adc();
|
|
void calculate();
|
|
|
|
float pressure;
|
|
float temperature;
|
|
float temperature_sum;
|
|
float pressure_sum;
|
|
uint32_t temp_count;
|
|
uint32_t press_count;
|
|
|
|
uint32_t last_sample_time_ms;
|
|
|
|
uint16_t prom[8];
|
|
uint8_t state;
|
|
int32_t D1;
|
|
int32_t D2;
|
|
uint32_t command_send_us;
|
|
bool ignore_next;
|
|
uint8_t cmd_sent;
|
|
MS5525_ADDR _address;
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
|
|
};
|