mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.7 KiB
C++
70 lines
1.7 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/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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void accumulate();
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protected:
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AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
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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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void _timer();
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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/* Asynchronous state: */
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volatile bool _updated;
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volatile uint8_t _d1_count;
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volatile uint8_t _d2_count;
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volatile uint32_t _s_D1, _s_D2;
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uint8_t _state;
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uint32_t _last_timer;
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bool _timesliced;
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bool _use_timer;
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// Internal calibration registers
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uint16_t _c1,_c2,_c3,_c4,_c5,_c6;
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float _D1, _D2;
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uint8_t _instance;
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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, bool use_timer);
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protected:
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void _calculate();
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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, bool use_timer);
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protected:
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void _calculate();
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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, bool use_timer);
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protected:
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void _calculate();
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bool _read_prom(uint16_t prom[8]) override;
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};
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