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             : /*
      18             :   backend driver for airspeed from I2C
      19             :  */
      20             : 
      21             : #include "AP_Airspeed_config.h"
      22             : 
      23             : #if AP_AIRSPEED_MS5525_ENABLED
      24             : 
      25             : #include <AP_HAL/AP_HAL.h>
      26             : #include <AP_HAL/I2CDevice.h>
      27             : #include <utility>
      28             : 
      29             : #include "AP_Airspeed_Backend.h"
      30             : 
      31             : class AP_Airspeed_MS5525 : public AP_Airspeed_Backend
      32             : {
      33             : public:
      34             :     enum MS5525_ADDR {
      35             :         MS5525_ADDR_1    = 0,
      36             :         MS5525_ADDR_2    = 1,
      37             :         MS5525_ADDR_AUTO = 255, // does not need to be 255, just needs to be out of the address array
      38             :     };
      39             : 
      40             :     AP_Airspeed_MS5525(AP_Airspeed &frontend, uint8_t _instance, MS5525_ADDR address);
      41           0 :     ~AP_Airspeed_MS5525(void) {
      42           0 :         delete dev;
      43           0 :     }
      44             : 
      45             :     // probe and initialise the sensor
      46             :     bool init() override;
      47             : 
      48             :     // return the current differential_pressure in Pascal
      49             :     bool get_differential_pressure(float &pressure) override;
      50             : 
      51             :     // return the current temperature in degrees C, if available
      52             :     bool get_temperature(float &temperature) override;
      53             : 
      54             : private:
      55             :     void measure();
      56             :     void collect();
      57             :     void timer();
      58             :     bool read_prom(void);
      59             :     uint16_t crc4_prom(void);
      60             :     int32_t read_adc();
      61             :     void calculate();
      62             : 
      63             :     float pressure;
      64             :     float temperature;
      65             :     float temperature_sum;
      66             :     float pressure_sum;
      67             :     uint32_t temp_count;
      68             :     uint32_t press_count;
      69             :     
      70             :     uint32_t last_sample_time_ms;
      71             : 
      72             :     uint16_t prom[8];
      73             :     uint8_t state;
      74             :     int32_t D1;
      75             :     int32_t D2;
      76             :     uint32_t command_send_us;
      77             :     bool ignore_next;
      78             :     uint8_t cmd_sent;
      79             :     MS5525_ADDR _address;
      80             : 
      81             :     AP_HAL::I2CDevice *dev;
      82             : };
      83             : 
      84             : #endif  // AP_AIRSPEED_MS5525_ENABLED