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114 lines
2.9 KiB
114 lines
2.9 KiB
#pragma once |
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#include "AP_Baro_Backend.h" |
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#ifndef AP_BARO_MS56XX_ENABLED |
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#define AP_BARO_MS56XX_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_BARO_MS56XX_ENABLED |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL/Semaphores.h> |
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#include <AP_HAL/Device.h> |
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#ifndef HAL_BARO_MS5611_I2C_ADDR |
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#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
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#endif |
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#ifndef HAL_BARO_MS5611_I2C_ADDR2 |
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#define HAL_BARO_MS5611_I2C_ADDR2 0x76 |
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#endif |
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#ifndef HAL_BARO_MS5607_I2C_ADDR |
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#define HAL_BARO_MS5607_I2C_ADDR 0x77 |
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#endif |
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#ifndef HAL_BARO_MS5837_I2C_ADDR |
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#define HAL_BARO_MS5837_I2C_ADDR 0x76 |
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#endif |
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#ifndef HAL_BARO_MS5637_I2C_ADDR |
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#define HAL_BARO_MS5637_I2C_ADDR 0x76 |
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#endif |
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class AP_Baro_MS56XX : public AP_Baro_Backend |
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{ |
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public: |
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void update() override; |
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enum MS56XX_TYPE { |
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BARO_MS5611 = 0, |
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BARO_MS5607 = 1, |
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BARO_MS5637 = 2, |
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BARO_MS5837 = 3 |
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}; |
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static AP_Baro_Backend *probe_5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) { |
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return probe(baro, std::move(dev), BARO_MS5611); |
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} |
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static AP_Baro_Backend *probe_5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) { |
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return probe(baro, std::move(dev), BARO_MS5607); |
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} |
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static AP_Baro_Backend *probe_5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) { |
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return probe(baro, std::move(dev), BARO_MS5637); |
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} |
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static AP_Baro_Backend *probe_5837(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) { |
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return probe(baro, std::move(dev), BARO_MS5837); |
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} |
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type=BARO_MS5611); |
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private: |
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/* |
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* Update @accum and @count with the new sample in @val, taking into |
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* account a maximum number of samples given by @max_count; in case |
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* maximum number is reached, @accum and @count are updated appropriately |
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*/ |
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static void _update_and_wrap_accumulator(uint32_t *accum, uint32_t val, |
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uint8_t *count, uint8_t max_count); |
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AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type); |
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bool _init(); |
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void _calculate_5611(); |
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void _calculate_5607(); |
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void _calculate_5637(); |
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void _calculate_5837(); |
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bool _read_prom_5611(uint16_t prom[8]); |
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bool _read_prom_5637(uint16_t prom[8]); |
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uint16_t _read_prom_word(uint8_t word); |
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uint32_t _read_adc(); |
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void _timer(); |
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AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
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/* Shared values between thread sampling the HW and main thread */ |
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struct { |
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uint32_t s_D1; |
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uint32_t s_D2; |
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uint8_t d1_count; |
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uint8_t d2_count; |
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} _accum; |
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uint8_t _state; |
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uint8_t _instance; |
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/* Last compensated values from accumulated sample */ |
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float _D1, _D2; |
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// Internal calibration registers |
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struct { |
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uint16_t c1, c2, c3, c4, c5, c6; |
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} _cal_reg; |
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bool _discard_next; |
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enum MS56XX_TYPE _ms56xx_type; |
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}; |
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#endif // AP_BARO_MS56XX_ENABLED
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