Line data    Source code

       1             : #include "SIM_config.h"
       2             : 
       3             : #if AP_SIM_TEMPERATURE_SHT3X_ENABLED
       4             : 
       5             : #include "SIM_I2CDevice.h"
       6             : 
       7             : /*
       8             :   Simulator for the SHT3X temperature sensor
       9             : 
      10             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduSub -A --speedup=1
      11             : 
      12             : param set TEMP1_TYPE 8
      13             : param set TEMP1_ADDR 0x44
      14             : 
      15             : */
      16             : 
      17             : namespace SITL {
      18             : 
      19             : class SHT3x : public I2CDevice
      20             : {
      21             : public:
      22             : 
      23             :     SHT3x();
      24             : 
      25             :     void update(const class Aircraft &aircraft) override;
      26             : 
      27             :     int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
      28             : 
      29             : private:
      30             : 
      31             :     // should be a call on aircraft:
      32             :     float last_temperature = -1000.0f;
      33             : 
      34             :     enum class State {
      35             :         UNKNOWN = 22,
      36             :         RESET = 23,
      37             :         CLEAR_STATUS = 24,
      38             :         IDLE = 25,
      39             :         MEASURING = 26,
      40             :         MEASURED = 27,
      41             :      } state = State::RESET;
      42             : 
      43             :     uint32_t state_start_time_ms;
      44             : 
      45        3714 :     void set_state(State new_state) {
      46        3714 :         state = new_state;
      47        3714 :         state_start_time_ms = AP_HAL::millis();
      48        3714 :     }
      49       28073 :     uint32_t time_in_state_ms() const {
      50       28073 :         return AP_HAL::millis() - state_start_time_ms;
      51             :     }
      52             : 
      53             :     float get_sim_temperature() const;
      54             : 
      55             :     float temperature_for_adc(uint32_t adc) const;
      56             :     uint32_t calculate_adc(float temperature) const;
      57             :     uint32_t adc;
      58             : 
      59             :     void pack_reading(SITL::I2C::i2c_msg &msg);
      60             : 
      61             :     enum class Command {
      62             :         RESET         = 0x30A2,
      63             :         READ_STATUS   = 0xF32D,
      64             :         CLEAR_STATUS  = 0x3041,
      65             :         MEASURE       = 0x2C06,  // clock-stretching-enabled, high-repatability
      66             :         READ_SN       = 0x3780,
      67             :     };
      68             : 
      69             :     union {
      70             :         struct {
      71             :             uint8_t checksum_status : 1;
      72             :             uint8_t command_status : 1;
      73             :             uint8_t reserved1 : 2;
      74             :             uint8_t reset_detected : 1;
      75             :             uint8_t reserved2 : 5;
      76             :             uint8_t T_tracking_alert : 1;
      77             :             uint8_t RH_tracking_alert : 1;
      78             :             uint8_t reserved3 : 1;
      79             :             uint8_t header_status : 1;
      80             :             uint8_t reserved4 : 1;
      81             :             uint8_t alert_pending : 1;
      82             :         };
      83             :         uint16_t value;
      84             :     } status;
      85             : 
      86             :     struct {
      87             :         float temperature;
      88             :         float humidity;
      89             :     } measurement;
      90             : 
      91             :     void reset();
      92             : };
      93             : 
      94             : } // namespace SITL
      95             : 
      96             : #endif  // AP_SIM_TEMPERATURE_SHT3X_ENABLED