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55 lines
1.7 KiB
55 lines
1.7 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_BARO_MS5611_H__ |
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#define __AP_BARO_MS5611_H__ |
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#include "AP_Baro.h" |
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class AP_Baro_MS5611 : public AP_Baro |
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{ |
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public: |
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AP_Baro_MS5611() { |
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} // Constructor |
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/* AP_Baro public interface: */ |
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bool init(AP_PeriodicProcess *scheduler); |
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uint8_t read(); |
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float get_pressure(); // in mbar*100 units |
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float get_temperature(); // in celsius degrees * 100 units |
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int32_t get_raw_pressure(); |
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int32_t get_raw_temp(); |
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void _calculate(); |
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private: |
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/* Asynchronous handler functions: */ |
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static void _update(uint32_t ); |
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/* Asynchronous state: */ |
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static volatile bool _updated; |
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static volatile uint8_t _d1_count; |
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static volatile uint8_t _d2_count; |
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static volatile uint32_t _s_D1, _s_D2; |
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static uint8_t _state; |
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static uint32_t _timer; |
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/* Gates access to asynchronous state: */ |
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static bool _sync_access; |
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/* Serial wrapper functions: */ |
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static uint8_t _spi_read(uint8_t reg); |
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static uint16_t _spi_read_16bits(uint8_t reg); |
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static uint32_t _spi_read_adc(); |
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static void _spi_write(uint8_t reg); |
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float Temp; |
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float Press; |
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int32_t _raw_press; |
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int32_t _raw_temp; |
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// Internal calibration registers |
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uint16_t C1,C2,C3,C4,C5,C6; |
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float D1,D2; |
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}; |
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#endif // __AP_BARO_MS5611_H__
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