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69 lines
1.8 KiB
69 lines
1.8 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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/* |
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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_HAL/I2CDevice.h> |
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class AP_Airspeed_MS5525 : public AP_Airspeed_Backend |
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{ |
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public: |
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AP_Airspeed_MS5525(AP_Airspeed &frontend); |
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~AP_Airspeed_MS5525(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 measure(); |
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void collect(); |
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void timer(); |
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bool read_prom(void); |
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uint16_t crc4_prom(void); |
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int32_t read_adc(); |
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void calculate(); |
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float pressure; |
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float temperature; |
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float temperature_sum; |
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float pressure_sum; |
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uint32_t temp_count; |
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uint32_t press_count; |
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uint32_t last_sample_time_ms; |
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uint16_t prom[8]; |
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uint8_t state; |
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int32_t D1; |
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int32_t D2; |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev; |
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};
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