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89 lines
2.7 KiB
89 lines
2.7 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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* Driver for 4 LD ... 9 LD line of pressure transducers from Keller: |
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* http://www.keller-druck.com/home_e/paprod_e/4ld_e.asp |
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* |
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* These sensors operate on I2C and come in a variety of form factors. |
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* The measurement range is between 0-200 bar depbending on the model. |
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* They are definitely not the worlds smallest pressure transmitter. |
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* |
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* Default address is 0x40. |
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*/ |
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#pragma once |
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#include "AP_Baro_Backend.h" |
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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_KELLERLD_I2C_ADDR |
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#define HAL_BARO_KELLERLD_I2C_ADDR 0x40 |
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#endif |
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class AP_Baro_KellerLD : public AP_Baro_Backend |
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{ |
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public: |
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void update() override; |
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); |
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private: |
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AP_Baro_KellerLD(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); |
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bool _init(); |
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void _timer(); |
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bool _read(); |
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void _update_and_wrap_accumulator(uint16_t pressure, uint16_t temperature, uint8_t max_count); |
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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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/* These are raw outputs, not calculated values */ |
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struct { |
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uint32_t sum_pressure; |
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uint32_t sum_temperature; |
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uint8_t num_samples; |
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} _accum; |
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uint8_t _instance; |
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enum class SensorMode { |
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PR_MODE = 0, // Vented gauge |
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PA_MODE = 1, // Sealed gauge |
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PAA_MODE = 2, // Absolute |
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UNDEFINED = 3, |
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}; |
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// to store sensor mode |
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SensorMode _p_mode; |
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// Model-specific offset/calibration values stored in device ROM |
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// pressure offset used in pressure calculation |
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float _p_mode_offset; |
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// measurement range parameters used in pressure calculation |
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float _p_min; |
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float _p_max; |
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// helpers for reading out calibration information: |
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bool transfer_with_delays(uint8_t *send, uint8_t sendlen, uint8_t *recv, uint8_t recvlen); |
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bool read_measurement_limit(float *limit, uint8_t msb_addr, uint8_t lsb_addr); |
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bool read_cal(); |
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bool read_mode_type(); |
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};
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