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76 lines
2.0 KiB
76 lines
2.0 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL_Boards.h> |
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#ifndef AP_AIRSPEED_SDP3X_ENABLED |
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#define AP_AIRSPEED_SDP3X_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_AIRSPEED_SDP3X_ENABLED |
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/* |
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backend driver for airspeed from I2C |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_HAL/utility/OwnPtr.h> |
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#include <AP_HAL/I2CDevice.h> |
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#include <utility> |
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#include "AP_Airspeed_Backend.h" |
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#include "AP_Airspeed.h" |
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/* |
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* Thanks to PX4 for registers definitions |
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*/ |
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class AP_Airspeed_SDP3X : public AP_Airspeed_Backend |
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{ |
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public: |
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AP_Airspeed_SDP3X(AP_Airspeed &frontend, uint8_t _instance); |
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~AP_Airspeed_SDP3X(void) {} |
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// probe and initialise the sensor |
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bool init() override; |
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// return the current differential_pressure in Pascal |
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bool get_differential_pressure(float &pressure) override; |
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// return the current temperature in degrees C, if available |
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bool get_temperature(float &temperature) override; |
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private: |
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void _timer(); |
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bool _send_command(uint16_t cmd); |
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bool _crc(const uint8_t data[], uint8_t size, uint8_t checksum); |
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float _correct_pressure(float press); |
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float _temp; |
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float _press; |
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uint16_t _temp_count; |
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uint16_t _press_count; |
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float _temp_sum; |
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float _press_sum; |
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uint32_t _last_sample_time_ms; |
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uint16_t _scale; |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev; |
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}; |
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#endif // AP_AIRSPEED_SDP3X_ENABLED
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