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53 lines
1.2 KiB
53 lines
1.2 KiB
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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() {} // Constructor |
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/* AP_Baro public interface: */ |
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void init(AP_PeriodicProcess *scheduler); |
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uint8_t read(); |
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int32_t get_pressure(); // in mbar*100 units |
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int16_t get_temperature(); // in celsius degrees * 100 units |
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float get_altitude(); // in meter units |
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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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/* Asynchronous handler functions: */ |
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static void _update(void); |
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static bool _ready(); |
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/* Asynchronous state: */ |
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static bool _updated; |
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static uint32_t _s_D1, _s_D2; |
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static uint8_t _state; |
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static long _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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void _calculate(); |
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int16_t Temp; |
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int32_t Press; |
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int32_t Alt; |
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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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uint32_t D1,D2; |
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}; |
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#endif // __AP_BARO_MS5611_H__
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