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64 lines
1.4 KiB
64 lines
1.4 KiB
#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL/I2CDevice.h> |
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#include <AP_HAL/utility/OwnPtr.h> |
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#include <Filter/Filter.h> |
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#include "AP_Baro_Backend.h" |
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#ifndef HAL_BARO_BMP085_I2C_ADDR |
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#define HAL_BARO_BMP085_I2C_ADDR (0x77) |
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#endif |
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class AP_Baro_BMP085 : public AP_Baro_Backend { |
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public: |
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AP_Baro_BMP085(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(); |
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void _cmd_read_pressure(); |
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void _cmd_read_temp(); |
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bool _read_pressure(); |
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void _read_temp(); |
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void _calculate(); |
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bool _data_ready(); |
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void _timer(void); |
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uint16_t _read_prom_word(uint8_t word); |
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bool _read_prom(uint16_t *prom); |
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AP_HAL::OwnPtr<AP_HAL::Device> _dev; |
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AP_HAL::DigitalSource *_eoc; |
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uint8_t _instance; |
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bool _has_sample; |
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// Boards with no EOC pin: 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 _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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int32_t _raw_pressure; |
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int32_t _raw_temp; |
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int32_t _temp; |
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AverageIntegralFilter<int32_t, int32_t, 10> _pressure_filter; |
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uint8_t _vers; |
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uint8_t _type; |
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};
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