mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-03 09:21:36 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
107 lines
3.5 KiB
C++
107 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file SDP3X.hpp
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*
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* Driver for Sensirion SDP3X Differential Pressure Sensor
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*
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* Datasheet: https://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/8_Differential_Pressure/Sensirion_Differential_Pressure_Sensors_SDP3x_Digital_Datasheet_V0.8.pdf
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*/
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#ifndef DRIVERS_SDP3X_AIRSPEED_HPP_
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#define DRIVERS_SDP3X_AIRSPEED_HPP_
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#include <drivers/airspeed/airspeed.h>
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#include <math.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <px4_platform_common/getopt.h>
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#define I2C_ADDRESS_1_SDP3X 0x21
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#define I2C_ADDRESS_2_SDP3X 0x22
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#define I2C_ADDRESS_3_SDP3X 0x23
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#define SDP3X_SCALE_TEMPERATURE 200.0f
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#define SDP3X_RESET_ADDR 0x00
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#define SDP3X_RESET_CMD 0x06
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#define SDP3X_CONT_MEAS_AVG_MODE 0x3615
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#define SDP3X_SCALE_PRESSURE_SDP31 60
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#define SDP3X_SCALE_PRESSURE_SDP32 240
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#define SDP3X_SCALE_PRESSURE_SDP33 20
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#define PATH_SDP3X "/dev/sdp3x"
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// Measurement rate is 20Hz
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#define SPD3X_MEAS_RATE 100
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#define SDP3X_MEAS_DRIVER_FILTER_FREQ 3.0f
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#define CONVERSION_INTERVAL (1000000 / SPD3X_MEAS_RATE) /* microseconds */
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class SDP3X : public Airspeed
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{
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public:
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SDP3X(int bus, int address = I2C_ADDRESS_1_SDP3X, const char *path = PATH_SDP3X) :
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Airspeed(bus, address, CONVERSION_INTERVAL, path)
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{
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}
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private:
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void Run() override;
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int measure() override { return 0; }
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int collect() override;
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int probe() override;
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math::LowPassFilter2p _filter{SPD3X_MEAS_RATE, SDP3X_MEAS_DRIVER_FILTER_FREQ};
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bool init_sdp3x();
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/**
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* Calculate the CRC8 for the sensor payload data
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*/
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bool crc(const uint8_t data[], unsigned size, uint8_t checksum);
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/**
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* Write a command in Sensirion specific logic
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*/
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int write_command(uint16_t command);
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uint16_t _scale{0};
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};
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#endif /* DRIVERS_SDP3X_AIRSPEED_HPP_ */
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