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113 lines
3.1 KiB
113 lines
3.1 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_BARO_MS5611_H__ |
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#define __AP_BARO_MS5611_H__ |
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#include <AP_HAL.h> |
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#include "AP_Baro.h" |
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/** Abstract serial device driver for MS5611. */ |
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class AP_Baro_MS5611_Serial |
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{ |
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public: |
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/** Initialize the driver. */ |
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virtual void init() = 0; |
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/** Read a 16-bit value from register "reg". */ |
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virtual uint16_t read_16bits(uint8_t reg) = 0; |
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/** Read a 24-bit value from the ADC. */ |
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virtual uint32_t read_adc() = 0; |
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/** Write a single byte command. */ |
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virtual void write(uint8_t reg) = 0; |
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/** Acquire the internal semaphore for this device. |
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* take_nonblocking should be used from the timer process, |
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* take_blocking from synchronous code (i.e. init) */ |
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virtual bool sem_take_nonblocking() { return true; } |
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virtual bool sem_take_blocking() { return true; } |
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/** Release the internal semaphore for this device. */ |
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virtual void sem_give() {} |
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}; |
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/** SPI serial device. */ |
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class AP_Baro_MS5611_SPI : public AP_Baro_MS5611_Serial |
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{ |
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public: |
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virtual void init(); |
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virtual uint16_t read_16bits(uint8_t reg); |
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virtual uint32_t read_adc(); |
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virtual void write(uint8_t reg); |
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virtual bool sem_take_nonblocking(); |
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virtual bool sem_take_blocking(); |
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virtual void sem_give(); |
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private: |
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AP_HAL::SPIDeviceDriver *_spi; |
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AP_HAL::Semaphore *_spi_sem; |
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}; |
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/** I2C serial device. */ |
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class AP_Baro_MS5611_I2C : public AP_Baro_MS5611_Serial |
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{ |
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public: |
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virtual void init(); |
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virtual uint16_t read_16bits(uint8_t reg); |
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virtual uint32_t read_adc(); |
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virtual void write(uint8_t reg); |
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virtual bool sem_take_nonblocking(); |
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virtual bool sem_take_blocking(); |
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virtual void sem_give(); |
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private: |
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AP_HAL::Semaphore *_i2c_sem; |
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}; |
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class AP_Baro_MS5611 : public AP_Baro |
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{ |
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public: |
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AP_Baro_MS5611(AP_Baro_MS5611_Serial *serial) |
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{ |
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_serial = serial; |
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} |
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/* AP_Baro public interface: */ |
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bool init(); |
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uint8_t read(); |
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float get_pressure(); // in mbar*100 units |
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float get_temperature(); // in celsius degrees |
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/* Serial port drivers to pass to "init". */ |
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static AP_Baro_MS5611_SPI spi; |
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static AP_Baro_MS5611_I2C i2c; |
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private: |
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void _calculate(); |
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/* Asynchronous handler functions: */ |
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void _update(); |
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/* Asynchronous state: */ |
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static volatile bool _updated; |
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static volatile uint8_t _d1_count; |
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static volatile uint8_t _d2_count; |
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static volatile uint32_t _s_D1, _s_D2; |
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static uint8_t _state; |
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static uint32_t _timer; |
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static AP_Baro_MS5611_Serial *_serial; |
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/* Gates access to asynchronous state: */ |
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static bool _sync_access; |
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float Temp; |
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float Press; |
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int32_t _raw_press; |
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int32_t _raw_temp; |
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// Internal calibration registers |
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uint16_t C1,C2,C3,C4,C5,C6; |
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float D1,D2; |
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}; |
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#endif // __AP_BARO_MS5611_H__
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