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55 lines
1.2 KiB
55 lines
1.2 KiB
#pragma once |
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#include "AP_Baro_Backend.h" |
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#ifndef AP_BARO_SPL06_ENABLED |
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#define AP_BARO_SPL06_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_BARO_SPL06_ENABLED |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL/Device.h> |
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#include <AP_HAL/utility/OwnPtr.h> |
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#ifndef HAL_BARO_SPL06_I2C_ADDR |
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#define HAL_BARO_SPL06_I2C_ADDR (0x76) |
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#endif |
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#ifndef HAL_BARO_SPL06_I2C_ADDR2 |
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#define HAL_BARO_SPL06_I2C_ADDR2 (0x77) |
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#endif |
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class AP_Baro_SPL06 : public AP_Baro_Backend |
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{ |
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public: |
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AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); |
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/* AP_Baro public interface: */ |
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void update() override; |
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev); |
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private: |
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bool _init(void); |
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void _timer(void); |
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void _update_temperature(int32_t); |
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void _update_pressure(int32_t); |
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int32_t raw_value_scale_factor(uint8_t); |
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AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
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int8_t _timer_counter; |
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uint8_t _instance; |
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float _temp_raw; |
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float _pressure_sum; |
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uint32_t _pressure_count; |
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float _temperature; |
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// Internal calibration registers |
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int32_t _c00, _c10; |
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int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30; |
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}; |
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#endif // AP_BARO_SPL06_ENABLED
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