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69 lines
1.9 KiB
69 lines
1.9 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_BARO_BMP085_H__ |
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#define __AP_BARO_BMP085_H__ |
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#define PRESS_FILTER_SIZE 2 |
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#include "AP_Baro.h" |
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#include <AverageFilter.h> |
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class AP_Baro_BMP085 : public AP_Baro |
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{ |
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public: |
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AP_Baro_BMP085() : |
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RawPress(0), |
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RawTemp(0), |
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_temp_sum(0.0f), |
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_press_sum(0.0f), |
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_count(0), |
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Temp(0.0f), |
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Press(0.0f), |
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_last_press_read_command_time(0), |
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_last_temp_read_command_time(0), |
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BMP085_State(0), |
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ac1(0), ac2(0), ac3(0), b1(0), b2(0), mb(0), mc(0), md(0), |
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ac4(0), ac5(0), ac6(0), |
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_retry_time(0) |
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{ |
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_pressure_samples = 1; |
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}; // Constructor |
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/* AP_Baro public interface: */ |
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bool init(); |
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uint8_t read(); |
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void accumulate(void); |
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float get_pressure(); |
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float get_temperature() const; |
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private: |
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int32_t RawPress; |
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int32_t RawTemp; |
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float _temp_sum; |
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float _press_sum; |
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uint8_t _count; |
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float Temp; |
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float Press; |
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// Flymaple has no EOC pin, so use times instead |
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uint32_t _last_press_read_command_time; |
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uint32_t _last_temp_read_command_time; |
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// State machine |
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uint8_t BMP085_State; |
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// Internal calibration registers |
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int16_t ac1, ac2, ac3, b1, b2, mb, mc, md; |
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uint16_t ac4, ac5, ac6; |
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AverageFilterInt32_Size4 _temp_filter; |
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uint32_t _retry_time; |
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void Command_ReadPress(); |
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void Command_ReadTemp(); |
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void ReadPress(); |
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void ReadTemp(); |
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void Calculate(); |
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}; |
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#endif // __AP_BARO_BMP085_H__
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