LPS22HB.hpp

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#pragma once

#include <cstring>

#include <drivers/device/Device.hpp>
#include <drivers/device/i2c.h>
#include <drivers/device/spi.h>
#include <drivers/drv_baro.h>
#include <lib/cdev/CDev.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#include <uORB/uORB.h>


static constexpr uint8_t WHO_AM_I = 0x0F;
static constexpr uint8_t LPS22HB_ID_WHO_AM_I = 0xB1;

static constexpr uint8_t CTRL_REG1 = 0x10;
static constexpr uint8_t CTRL_REG2 = 0x11;
static constexpr uint8_t CTRL_REG3 = 0x12;

#define BOOT        (1 << 7)
#define FIFO_EN     (1 << 6)
#define STOP_ON_FTH (1 << 5)
#define IF_ADD_INC  (1 << 4)
#define I2C_DIS     (1 << 3)
#define SWRESET     (1 << 2)
#define ONE_SHOT    (1 << 0)

static constexpr uint8_t STATUS = 0x27;

#define T_OR (1 << 5) // Temperature data overrun.
#define P_OR (1 << 4) // Pressure data overrun.
#define T_DA (1 << 1) // Temperature data available.
#define P_DA (1 << 0) // Pressure data available.

static constexpr uint8_t PRESS_OUT_XL = 0x28;
static constexpr uint8_t PRESS_OUT_L = 0x29;
static constexpr uint8_t PRESS_OUT_H = 0x2A;

static constexpr uint8_t TEMP_OUT_L = 0x2B;
static constexpr uint8_t TEMP_OUT_H = 0x2C;

/* interface factories */
extern device::Device *LPS22HB_SPI_interface(int bus);
extern device::Device *LPS22HB_I2C_interface(int bus);
typedef device::Device *(*LPS22HB_constructor)(int);

class LPS22HB : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
    LPS22HB(device::Device *interface, const char *path);
    virtual ~LPS22HB();

    virtual int     init();

    virtual int     ioctl(struct file *filp, int cmd, unsigned long arg);

    /**
     * Diagnostics - print some basic information about the driver.
     */
    void            print_info();

protected:
    device::Device          *_interface;

private:
    unsigned        _measure_interval{0};

    bool            _collect_phase{false};

    orb_advert_t        _baro_topic{nullptr};

    int         _orb_class_instance{-1};
    int         _class_instance{-1};

    perf_counter_t      _sample_perf;
    perf_counter_t      _comms_errors;

    sensor_baro_s   _last_report{};           /**< used for info() */

    /**
     * Initialise the automatic measurement state machine and start it.
     *
     * @note This function is called at open and error time.  It might make sense
     *       to make it more aggressive about resetting the bus in case of errors.
     */
    void            start();

    /**
     * Stop the automatic measurement state machine.
     */
    void            stop();

    /**
     * Reset the device
     */
    int         reset();

    /**
     * Perform a poll cycle; collect from the previous measurement
     * and start a new one.
     *
     * This is the heart of the measurement state machine.  This function
     * alternately starts a measurement, or collects the data from the
     * previous measurement.
     *
     * When the interval between measurements is greater than the minimum
     * measurement interval, a gap is inserted between collection
     * and measurement to provide the most recent measurement possible
     * at the next interval.
     */
    void            Run() override;

    /**
     * Write a register.
     *
     * @param reg       The register to write.
     * @param val       The value to write.
     * @return      OK on write success.
     */
    int         write_reg(uint8_t reg, uint8_t val);

    /**
     * Read a register.
     *
     * @param reg       The register to read.
     * @param val       The value read.
     * @return      OK on read success.
     */
    int         read_reg(uint8_t reg, uint8_t &val);

    /**
     * Issue a measurement command.
     *
     * @return      OK if the measurement command was successful.
     */
    int         measure();

    /**
     * Collect the result of the most recent measurement.
     */
    int         collect();

    /* this class has pointer data members, do not allow copying it */
    LPS22HB(const LPS22HB &);
    LPS22HB operator=(const LPS22HB &);
};