You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
61 lines
1.3 KiB
61 lines
1.3 KiB
#pragma once |
|
|
|
#include "AP_Baro_Backend.h" |
|
|
|
#ifndef AP_BARO_LPS2XH_ENABLED |
|
#define AP_BARO_LPS2XH_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED |
|
#endif |
|
|
|
#if AP_BARO_LPS2XH_ENABLED |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
#include <AP_HAL/Device.h> |
|
#include <AP_HAL/utility/OwnPtr.h> |
|
|
|
#define HAL_BARO_LPS25H_I2C_BUS 0 |
|
|
|
#ifndef HAL_BARO_LPS25H_I2C_ADDR |
|
# define HAL_BARO_LPS25H_I2C_ADDR 0x5D |
|
#endif |
|
|
|
|
|
class AP_Baro_LPS2XH : public AP_Baro_Backend |
|
{ |
|
public: |
|
enum LPS2XH_TYPE { |
|
BARO_LPS22H = 0, |
|
BARO_LPS25H = 1, |
|
}; |
|
|
|
AP_Baro_LPS2XH(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); |
|
|
|
/* AP_Baro public interface: */ |
|
void update() override; |
|
|
|
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); |
|
static AP_Baro_Backend *probe_InvensenseIMU(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, uint8_t imu_address); |
|
|
|
private: |
|
virtual ~AP_Baro_LPS2XH(void) {}; |
|
|
|
bool _init(void); |
|
void _timer(void); |
|
void _update_temperature(void); |
|
void _update_pressure(void); |
|
bool _imu_i2c_init(uint8_t imu_address); |
|
|
|
bool _check_whoami(void); |
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
|
|
|
uint8_t _instance; |
|
float _pressure_sum; |
|
uint32_t _pressure_count; |
|
float _temperature; |
|
|
|
uint32_t CallTime = 0; |
|
|
|
enum LPS2XH_TYPE _lps2xh_type; |
|
}; |
|
|
|
#endif // AP_BARO_LPS2XH_ENABLED
|
|
|