Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : // backend driver for AllSensors DLVR differential airspeed sensor
      18             : // currently assumes a 5" of water, noise reduced, sensor
      19             : 
      20             : #include "AP_Airspeed_config.h"
      21             : 
      22             : #if AP_AIRSPEED_DLVR_ENABLED
      23             : 
      24             : #include <AP_HAL/AP_HAL.h>
      25             : #include <AP_HAL/I2CDevice.h>
      26             : #include <utility>
      27             : 
      28             : #include "AP_Airspeed_Backend.h"
      29             : 
      30             : class AP_Airspeed_DLVR : public AP_Airspeed_Backend
      31             : {
      32             : public:
      33             : 
      34             :     AP_Airspeed_DLVR(AP_Airspeed &frontend, uint8_t _instance, const float _range_inH2O);
      35             :     static AP_Airspeed_Backend *probe(AP_Airspeed &frontend, uint8_t _instance, AP_HAL::I2CDevice *_dev, const float _range_inH2O);
      36             : 
      37           0 :     ~AP_Airspeed_DLVR(void) {
      38           0 :         delete dev;
      39           0 :     }
      40             : 
      41             :     // probe and initialise the sensor
      42             :     bool init() override;
      43             : 
      44             :     // return the current differential_pressure in Pascal
      45             :     bool get_differential_pressure(float &pressure) override;
      46             : 
      47             :     // return the current temperature in degrees C, if available
      48             :     bool get_temperature(float &temperature) override;
      49             : 
      50             : private:
      51             :     void timer();
      52             : 
      53             :     float pressure;
      54             :     float temperature;
      55             :     float temperature_sum;
      56             :     float pressure_sum;
      57             :     uint32_t temp_count;
      58             :     uint32_t press_count;
      59             :     
      60             :     uint32_t last_sample_time_ms;
      61             :     const float range_inH2O;
      62             : 
      63             :     // initialise the sensor
      64             :     void setup();
      65             : 
      66             :     AP_HAL::I2CDevice *dev;
      67             : };
      68             : 
      69             : #endif  // AP_AIRSPEED_DLVR_ENABLED