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#pragma once
#include <stdint.h>
#include "hardware/gpio.h"
#include "pico/stdlib.h"
#include "hardware/i2c.h"
#include "pico/time.h"
#if ( USE_FREERTOS == 1 )
#include "FreeRTOS.h"
#include "FreeRTOSConfig.h"
#include "portmacro.h"
#include "projdefs.h"
#include "task.h"
#include "semphr.h"
#endif
#define MS5607_I2C_ADDRESS 0x77
#define PROM_MANUFACTURER_RESERVED_ADDR 0x0
#define PROM_CALIBRATION_COEFFICENT_1_ADDR 0x1
#define PROM_CALIBRATION_COEFFICENT_2_ADDR 0x2
#define PROM_CALIBRATION_COEFFICENT_3_ADDR 0x3
#define PROM_CALIBRATION_COEFFICENT_4_ADDR 0x4
#define PROM_CALIBRATION_COEFFICENT_5_ADDR 0x5
#define PROM_CALIBRATION_COEFFICENT_6_ADDR 0x6
#define PROM_CRC_ADDR 0x7
#define OSR_CONVERT_256 0x0
#define OSR_CONVERT_512 0x1
#define OSR_CONVERT_1024 0x2
#define OSR_CONVERT_2048 0x3
#define OSR_CONVERT_4096 0x4
#define OSR_256_CONVERSION_TIME_US 600
#define TYPE_UNCOMPENSATED_PRESSURE 0
#define TYPE_UNCOMPENSATED_TEMPERATURE 1
#define RESET_COMMAND 0x1E
#define ADC_READ_COMMAND 0x0
#define ALTITUDE_SCALE_F 10.0f
#define PRESSURE_SCALE_F 100.0f
#define TEMPERATURE_SCALE_F 100.0f
#define ALTITUDE_SCALE 10
#define PRESSURE_SCALE 100
#define TEMPERATURE_SCALE 100
#define MS5607_SAMPLE_RATE_HZ 500
typedef union {
struct {
uint8_t RESERVED: 1;
uint8_t ADDR_OSR: 3;
uint8_t TYPE :1;
bool PROM2 :1;
bool CONVERT :1;
bool PROM: 1;
} fields;
uint8_t data;
} ms5607_cmd;
typedef enum {
NOT_SAMPLING,
PRESSURE_CONVERT,
TEMPERATURE_CONVERT,
COMPENSATE
} sample_state_t;
class MS5607 {
public:
MS5607(i2c_inst_t* i2c) : i2c {i2c} {};
void initialize();
void ms5607_write_cmd(ms5607_cmd* cmd);
void ms5607_start_sample();
void ms5607_sample();
static int64_t ms5607_sample_callback(alarm_id_t id, void* user_data);
#if (USE_FREERTOS == 1)
static void ms5607_sample_handler(void* pvParameters);
static void update_ms5607_task(void* pvParameters);
#endif
int32_t pressure_to_altitude(int32_t pressure);
int32_t get_pressure() { return pressure; }
int32_t get_temperature() { return temperature; }
int32_t get_altitude() { return altitude; }
void set_threshold_altitude(int32_t threshold_altitude, alarm_callback_t callback);
void clear_threshold_altitude();
#if ( USE_FREERTOS == 1 )
TaskHandle_t sample_handler_task_handle = NULL;
TaskHandle_t update_task_handle = NULL;
#endif
private:
void ms5607_compensate();
uint8_t buffer[3];
uint16_t prom[6];
uint32_t uncompensated_pressure;
uint32_t uncompensated_temperature;
int32_t pressure;
int32_t temperature;
int32_t altitude;
sample_state_t sample_state;
int32_t threshold_altitude;
alarm_callback_t threshold_callback = NULL;
bool positive_crossing;
i2c_inst_t* i2c;
const uint8_t addr = MS5607_I2C_ADDRESS;
};
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