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97 lines
3.0 KiB
C++
97 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2021 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 lps33hw.hpp
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*
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* Driver for the Infineon LPS33HW barometer connected via I2C or SPI.
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*/
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#pragma once
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#include <drivers/device/Device.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/sensor_baro.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include "lps33hw_registers.hpp"
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namespace lps33hw
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{
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using ST_LPS33HW::Register;
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class LPS33HW : public I2CSPIDriver<LPS33HW>
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{
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public:
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LPS33HW(const I2CSPIDriverConfig &config, device::Device *interface);
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virtual ~LPS33HW();
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static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
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static void print_usage();
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int init();
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void print_status();
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void RunImpl();
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private:
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enum class State {
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Detect = 0,
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Reset,
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WaitForReset,
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Running
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};
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int reset();
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int RegisterRead(Register reg, uint8_t &val);
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int RegisterWrite(Register reg, uint8_t val);
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static constexpr uint32_t SAMPLE_RATE{75};
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uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
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device::Device *_interface;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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const bool _keep_retrying;
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State _state{State::Detect};
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};
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} // namespace lps33hw
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