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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_MS5611.h
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#pragma once

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#include "AP_Baro_Backend.h"

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#if AP_BARO_MS56XX_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_MS5611_I2C_ADDR

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#define HAL_BARO_MS5611_I2C_ADDR 0x77

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#endif

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#ifndef HAL_BARO_MS5611_I2C_ADDR2

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#define HAL_BARO_MS5611_I2C_ADDR2 0x76

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#endif

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#ifndef HAL_BARO_MS5607_I2C_ADDR

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#define HAL_BARO_MS5607_I2C_ADDR 0x77

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#endif

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#ifndef HAL_BARO_MS5837_I2C_ADDR

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#define HAL_BARO_MS5837_I2C_ADDR 0x76

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#endif

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#ifndef HAL_BARO_MS5637_I2C_ADDR

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#define HAL_BARO_MS5637_I2C_ADDR 0x76

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#endif

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#if AP_BARO_MS5837_ENABLED

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// Determined in https://github.com/ArduPilot/ardupilot/pull/29122#issuecomment-2877269114

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#define MS5837_30BA_02BA_SELECTION_THRESHOLD 37000

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#endif

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class AP_Baro_MS56XX : public AP_Baro_Backend

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{

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public:

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    void update() override;

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    AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::Device &dev);

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protected:

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    // convenience methods for derivative classes to call.  Will free

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    // sensor if it can't init it.

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    static AP_Baro_Backend *_probe(AP_Baro &baro, AP_Baro_MS56XX *sensor);

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    virtual bool _init();

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    bool _read_prom_5611(uint16_t prom[8]);

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    bool _read_prom_5637(uint16_t prom[8]);

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    virtual const char *name() const = 0;

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    virtual DevTypes devtype() const = 0;

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    uint8_t _instance;

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    /* Last compensated values from accumulated sample */

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    float _D1, _D2;

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    // Internal calibration registers

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    struct {

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        uint16_t c1, c2, c3, c4, c5, c6;

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    } _cal_reg;

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private:

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::Device &dev);

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    /*

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     * Update @accum and @count with the new sample in @val, taking into

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     * account a maximum number of samples given by @max_count; in case

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     * maximum number is reached, @accum and @count are updated appropriately

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     */

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    static void _update_and_wrap_accumulator(uint32_t *accum, uint32_t val,

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                                             uint8_t *count, uint8_t max_count);

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    uint16_t _read_prom_word(uint8_t word);

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    uint32_t _read_adc();

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    void _timer();

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    AP_HAL::Device *_dev;

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    /* Shared values between thread sampling the HW and main thread */

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    struct {

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        uint32_t s_D1;

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        uint32_t s_D2;

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        uint8_t d1_count;

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        uint8_t d2_count;

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    } _accum;

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    uint8_t _state;

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    bool _discard_next;

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    virtual bool _read_prom(uint16_t *prom) = 0;

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    virtual void _calculate() = 0;

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};

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#if AP_BARO_MS5607_ENABLED

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class AP_Baro_MS5607 : public AP_Baro_MS56XX

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{

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public:

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    using AP_Baro_MS56XX::AP_Baro_MS56XX;

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::Device &dev);

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protected:

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    const char *name() const override { return "MS5607"; }

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    bool _read_prom(uint16_t *prom) override { return _read_prom_5611(prom); }

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    DevTypes devtype() const override { return DEVTYPE_BARO_MS5607; }

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    void _calculate() override;

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};

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#endif  // AP_BARO_MS5607_ENABLED

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#if AP_BARO_MS5611_ENABLED

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class AP_Baro_MS5611 : public AP_Baro_MS56XX

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{

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public:

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    using AP_Baro_MS56XX::AP_Baro_MS56XX;

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::Device &dev);

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protected:

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    const char *name() const override { return "MS5611"; }

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    bool _read_prom(uint16_t *prom) override { return _read_prom_5611(prom); }

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    DevTypes devtype() const override { return DEVTYPE_BARO_MS5611; }

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    void _calculate() override;

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};

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#endif  // AP_BARO_MS5611_ENABLED

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#if AP_BARO_MS5637_ENABLED

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class AP_Baro_MS5637 : public AP_Baro_MS56XX

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{

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public:

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    using AP_Baro_MS56XX::AP_Baro_MS56XX;

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::Device &dev);

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protected:

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    const char *name() const override { return "MS5637"; }

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    bool _read_prom(uint16_t *prom) override { return _read_prom_5637(prom); }

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    DevTypes devtype() const override { return DEVTYPE_BARO_MS5637; }

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    void _calculate() override;

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};

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#endif  // AP_BARO_MS5637_ENABLED

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#if AP_BARO_MS5837_ENABLED

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class AP_Baro_MS5837 : public AP_Baro_MS56XX

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{

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public:

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    using AP_Baro_MS56XX::AP_Baro_MS56XX;

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::Device &dev);

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protected:

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    const char *name() const override { return "MS5837"; }

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    bool _read_prom(uint16_t *prom) override { return _read_prom_5637(prom); }

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    DevTypes devtype() const override;

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    bool _init() override;

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    void _calculate() override;

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    void _calculate_5837_02ba();

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    void _calculate_5837_30ba();

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    DevTypes _subtype;

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};

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#endif  // AP_BARO_MS5837_ENABLED

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#endif  // AP_BARO_MS56XX_ENABLED

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