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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_MS5611.h
Views: 1798
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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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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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    enum MS56XX_TYPE {

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        BARO_MS5611 = 0,

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        BARO_MS5607 = 1,

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        BARO_MS5637 = 2,

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        BARO_MS5837 = 3

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    };

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    static AP_Baro_Backend *probe_5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {

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        return probe(baro, std::move(dev), BARO_MS5611);

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    }

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    static AP_Baro_Backend *probe_5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {

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        return probe(baro, std::move(dev), BARO_MS5607);

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    }

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    static AP_Baro_Backend *probe_5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {

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        return probe(baro, std::move(dev), BARO_MS5637);

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    }

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    static AP_Baro_Backend *probe_5837(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {

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        return probe(baro, std::move(dev), BARO_MS5837);

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    }

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type=BARO_MS5611);

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private:

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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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    AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type);

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    bool _init();

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    void _calculate_5611();

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    void _calculate_5607();

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    void _calculate_5637();

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    void _calculate_5837();

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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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    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::OwnPtr<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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    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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    bool _discard_next;

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    enum MS56XX_TYPE _ms56xx_type;

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};

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#endif  // AP_BARO_MS56XX_ENABLED

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