ardupilot/libraries/AP_Baro/AP_Baro_MS5611.h

88 lines
2.1 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include "AP_Baro_Backend.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Semaphores.h>
#include <AP_HAL/Device.h>
class AP_Baro_MS56XX : public AP_Baro_Backend
{
public:
void update();
protected:
/*
* Update @accum and @count with the new sample in @val, taking into
* account a maximum number of samples given by @max_count; in case
* maximum number is reached, @accum and @count are updated appropriately
*/
static void _update_and_wrap_accumulator(uint32_t *accum, uint32_t val,
uint8_t *count, uint8_t max_count);
AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
void _init();
virtual void _calculate() = 0;
virtual bool _read_prom(uint16_t prom[8]);
uint16_t _read_prom_word(uint8_t word);
uint32_t _read_adc();
bool _timer();
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
/*
* Synchronize access to _accum between thread sampling the HW and main
* thread using the values
*/
AP_HAL::Semaphore *_sem;
/* Shared values between thread sampling the HW and main thread */
struct {
uint32_t s_D1;
uint32_t s_D2;
uint8_t d1_count;
uint8_t d2_count;
} _accum;
uint8_t _state;
uint8_t _instance;
uint32_t _last_cmd_usec;
/* Last compensated values from accumulated sample */
float _D1, _D2;
// Internal calibration registers
struct {
uint16_t c1, c2, c3, c4, c5, c6;
} _cal_reg;
};
class AP_Baro_MS5611 : public AP_Baro_MS56XX
{
public:
AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
protected:
void _calculate() override;
};
class AP_Baro_MS5607 : public AP_Baro_MS56XX
{
public:
AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
protected:
void _calculate() override;
};
class AP_Baro_MS5637 : public AP_Baro_MS56XX
{
public:
AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
protected:
void _calculate() override;
bool _read_prom(uint16_t prom[8]) override;
};