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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_KellerLD.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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 * 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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#if AP_BARO_KELLERLD_ENABLED

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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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#endif  // AP_BARO_KELLERLD_ENABLED

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