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             : #include "AP_Airspeed_config.h"
      18             : 
      19             : #if AP_AIRSPEED_SDP3X_ENABLED
      20             : 
      21             : /*
      22             :   backend driver for airspeed from I2C
      23             :  */
      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             : #include "AP_Airspeed.h"
      31             : 
      32             : /*
      33             :  * Thanks to PX4 for registers definitions
      34             :  */
      35             : 
      36             : class AP_Airspeed_SDP3X : public AP_Airspeed_Backend
      37             : {
      38             : public:
      39             : 
      40             :     using AP_Airspeed_Backend::AP_Airspeed_Backend;
      41             : 
      42           0 :     ~AP_Airspeed_SDP3X() {
      43           0 :         delete _dev;
      44           0 :     }
      45             : 
      46             :     // probe and initialise the sensor
      47             :     bool init() override;
      48             : 
      49             :     // return the current differential_pressure in Pascal
      50             :     bool get_differential_pressure(float &pressure) override;
      51             : 
      52             :     // return the current temperature in degrees C, if available
      53             :     bool get_temperature(float &temperature) override;
      54             : 
      55             : private:
      56             :     void _timer();
      57             :     bool _send_command(uint16_t cmd);
      58             :     bool _crc(const uint8_t data[], uint8_t size, uint8_t checksum);
      59             :     float _correct_pressure(float press);
      60             : 
      61             :     float _temp;
      62             :     float _press;
      63             :     uint16_t _temp_count;
      64             :     uint16_t _press_count;
      65             :     float _temp_sum;
      66             :     float _press_sum;
      67             :     uint32_t _last_sample_time_ms;
      68             :     uint16_t _scale;
      69             : 
      70             :     AP_HAL::I2CDevice *_dev;
      71             : };
      72             : 
      73             : 
      74             : #endif  // AP_AIRSPEED_SDP3X_ENABLED