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62 lines
1.3 KiB
62 lines
1.3 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 TEMP_FILTER_SIZE 4 |
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#define PRESS_FILTER_SIZE 8 |
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#include "AP_Baro.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(bool apm2_hardware): |
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_temp_index(0), |
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_press_index(0), |
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_apm2_hardware(apm2_hardware){}; // 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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int32_t get_pressure(); |
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int16_t get_temperature(); |
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float get_altitude(); |
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int32_t get_raw_pressure(); |
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int32_t get_raw_temp(); |
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private: |
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int32_t RawPress; |
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int32_t _offset_press; |
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int32_t RawTemp; |
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int16_t Temp; |
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int32_t Press; |
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//int Altitude; |
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uint8_t oss; |
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bool _apm2_hardware; |
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//int32_t Press0; // Pressure at sea level |
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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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int _temp_filter[TEMP_FILTER_SIZE]; |
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int _press_filter[PRESS_FILTER_SIZE]; |
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long _offset_temp; |
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uint8_t _temp_index; |
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uint8_t _press_index; |
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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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