CoCalc Logo Icon
StoreFeaturesDocsShareSupportNewsAboutSign UpSign In
Ardupilot

Real-time collaboration for Jupyter Notebooks, Linux Terminals, LaTeX, VS Code, R IDE, and more,
all in one place. Commercial Alternative to JupyterHub.

GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_ICP201XX.h
Views: 1798
1
#pragma once

2


3
#include "AP_Baro_Backend.h"

4


5
#if AP_BARO_ICP201XX_ENABLED

6


7
#include <AP_HAL/AP_HAL.h>

8
#include <AP_HAL/Semaphores.h>

9
#include <AP_HAL/Device.h>

10


11
class AP_Baro_ICP201XX : public AP_Baro_Backend

12
{

13
public:

14
    void update() override;

15


16
    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);

17


18
private:

19
    AP_Baro_ICP201XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);

20


21
    bool init();

22
    void dummy_reg();

23
    bool read_reg(uint8_t reg, uint8_t *buf, uint8_t len);

24
    bool read_reg(uint8_t reg, uint8_t *val);

25
    bool write_reg(uint8_t reg, uint8_t val);

26
    bool mode_select(uint8_t mode);

27
    bool read_otp_data(uint8_t addr, uint8_t cmd, uint8_t *val);

28
    bool get_sensor_data(float *pressure, float *temperature);

29
    void soft_reset();

30
    bool boot_sequence();

31
    bool configure();

32
    void wait_read();

33
    bool flush_fifo();

34
    void timer();

35


36
    uint8_t instance;

37


38
    AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;

39


40
    // accumulation structure, protected by _sem

41
    struct {

42
        float tsum;

43
        float psum;

44
        uint32_t count;

45
    } accum;

46


47
    // time last read command was sent

48
    uint32_t last_measure_us;

49


50
    enum class OP_MODE : uint8_t {

51
		OP_MODE0 = 0,   /* Mode 0: Bw:6.25 Hz ODR: 25Hz */

52
		OP_MODE1,       /* Mode 1: Bw:30 Hz ODR: 120Hz */

53
		OP_MODE2,       /* Mode 2: Bw:10 Hz ODR: 40Hz */

54
		OP_MODE3,       /* Mode 3: Bw:0.5 Hz ODR: 2Hz */

55
		OP_MODE4,       /* Mode 4: User configurable Mode */

56
	} _op_mode{OP_MODE::OP_MODE2};

57


58
	enum class FIFO_READOUT_MODE : uint8_t {

59
		FIFO_READOUT_MODE_PRES_TEMP = 0,   /* Pressure and temperature as pair and address wraps to the start address of the Pressure value ( pressure first ) */

60
		FIFO_READOUT_MODE_TEMP_ONLY = 1,   /* Temperature only reporting */

61
		FIFO_READOUT_MODE_TEMP_PRES = 2,   /* Pressure and temperature as pair and address wraps to the start address of the Temperature value ( Temperature first ) */

62
		FIFO_READOUT_MODE_PRES_ONLY = 3    /* Pressure only reporting */

63
	} _fifo_readout_mode{FIFO_READOUT_MODE::FIFO_READOUT_MODE_PRES_TEMP};

64


65
	enum class POWER_MODE : uint8_t {

66
		POWER_MODE_NORMAL = 0,  /* Normal Mode: Device is in standby and goes to active mode during the execution of a measurement */

67
		POWER_MODE_ACTIVE = 1   /* Active Mode: Power on DVDD and enable the high frequency clock */

68
	} _power_mode{POWER_MODE::POWER_MODE_NORMAL};

69


70
	enum MEAS_MODE : uint8_t {

71
		MEAS_MODE_FORCED_TRIGGER = 0, /* Force trigger mode based on icp201xx_forced_meas_trigger_t **/

72
		MEAS_MODE_CONTINUOUS = 1   /* Continuous measurements based on selected mode ODR settings*/

73
	} _meas_mode{MEAS_MODE::MEAS_MODE_CONTINUOUS};

74


75
	enum FORCED_MEAS_TRIGGER : uint8_t {

76
		FORCE_MEAS_STANDBY = 0,			/* Stay in Stand by */

77
		FORCE_MEAS_TRIGGER_FORCE_MEAS = 1	/* Trigger for forced measurements */

78
	} _forced_meas_trigger{FORCED_MEAS_TRIGGER::FORCE_MEAS_STANDBY};

79
};

80


81
#endif  // AP_BARO_ICP201XX_ENABLED 

82


83