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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Airspeed/AP_Airspeed_MS5525.h
Views: 1798
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/*

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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_Airspeed_config.h"

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#if AP_AIRSPEED_MS5525_ENABLED

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#include <AP_HAL/AP_HAL.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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class AP_Airspeed_MS5525 : public AP_Airspeed_Backend

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{

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public:

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    enum MS5525_ADDR {

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        MS5525_ADDR_1    = 0,

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        MS5525_ADDR_2    = 1,

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        MS5525_ADDR_AUTO = 255, // does not need to be 255, just needs to be out of the address array

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    };

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    AP_Airspeed_MS5525(AP_Airspeed &frontend, uint8_t _instance, MS5525_ADDR address);

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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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    uint32_t command_send_us;

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    bool ignore_next;

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    uint8_t cmd_sent;

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    MS5525_ADDR _address;

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    AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;

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};

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#endif  // AP_AIRSPEED_MS5525_ENABLED

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