30f631de8f
The configuration of MS5637 is different from MS5611 in 2 ways:
- The PROM is of 112 bytes rather than 128
- The CRC is located in the first MSB of the first word, not the
last one
For CRC calculation we also need to zero out the last (missing) word.
This renames _check_crc() to _read_prom(), which returns false when the
PROM doesn't contain valid data. It also makes it virtual so MS5637 can
override it. This also moves the PROM read to be all in the same place
rather than split between the CRC field and coefficient fields. Finally
calculate_crc() is renamed to crc4() to be shorter and add info on what
it does.
132 lines
3.3 KiB
C++
132 lines
3.3 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_BARO_MS5611_H__
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#define __AP_BARO_MS5611_H__
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Baro.h"
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/** Abstract serial bus device driver for I2C/SPI. */
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class AP_SerialBus
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{
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public:
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/** Initialize the driver. */
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virtual void init() = 0;
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/** Read a 16-bit value from register "reg". */
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virtual uint16_t read_16bits(uint8_t reg) = 0;
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/** Read a 24-bit value */
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virtual uint32_t read_24bits(uint8_t reg) = 0;
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/** Write to a register with no data. */
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virtual bool write(uint8_t reg) = 0;
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/** Acquire the internal semaphore for this device.
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* take_nonblocking should be used from the timer process,
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* take_blocking from synchronous code (i.e. init) */
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virtual bool sem_take_nonblocking() = 0;
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virtual bool sem_take_blocking() = 0;
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/** Release the internal semaphore for this device. */
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virtual void sem_give() = 0;
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};
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/** SPI serial device. */
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class AP_SerialBus_SPI : public AP_SerialBus
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{
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public:
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AP_SerialBus_SPI(enum AP_HAL::SPIDevice device, enum AP_HAL::SPIDeviceDriver::bus_speed speed);
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void init();
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uint16_t read_16bits(uint8_t reg);
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uint32_t read_24bits(uint8_t reg);
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uint32_t read_adc(uint8_t reg);
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bool write(uint8_t reg);
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bool sem_take_nonblocking();
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bool sem_take_blocking();
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void sem_give();
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private:
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enum AP_HAL::SPIDevice _device;
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enum AP_HAL::SPIDeviceDriver::bus_speed _speed;
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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};
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/** I2C serial device. */
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class AP_SerialBus_I2C : public AP_SerialBus
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{
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public:
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AP_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
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void init();
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uint16_t read_16bits(uint8_t reg);
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uint32_t read_24bits(uint8_t reg);
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bool write(uint8_t reg);
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bool sem_take_nonblocking();
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bool sem_take_blocking();
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void sem_give();
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private:
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AP_HAL::I2CDriver *_i2c;
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uint8_t _addr;
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AP_HAL::Semaphore *_i2c_sem;
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};
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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_SerialBus *serial, 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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void _timer();
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AP_SerialBus *_serial;
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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 _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_SerialBus *serial, bool use_timer);
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private:
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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_SerialBus *serial, bool use_timer);
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private:
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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_SerialBus *serial, bool use_timer);
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private:
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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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#endif // __AP_BARO_MS5611_H__
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