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76 lines
1.5 KiB
76 lines
1.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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extern "C" { |
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// AVR LibC Includes |
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#include <inttypes.h> |
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#include <avr/interrupt.h> |
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} |
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#if defined(ARDUINO) && ARDUINO >= 100 |
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#include "Arduino.h" |
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#else |
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#include "WConstants.h" |
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#endif |
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#include "AP_Baro_BMP085_hil.h" |
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// Constructors //////////////////////////////////////////////////////////////// |
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AP_Baro_BMP085_HIL::AP_Baro_BMP085_HIL() |
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{ |
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} |
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// Public Methods ////////////////////////////////////////////////////////////// |
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bool AP_Baro_BMP085_HIL::init(AP_PeriodicProcess * scheduler) |
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{ |
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BMP085_State=1; |
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return true; |
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} |
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// Read the sensor. This is a state machine |
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// We read one time Temperature (state = 1) and then 4 times Pressure (states 2-5) |
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uint8_t AP_Baro_BMP085_HIL::read() |
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{ |
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uint8_t result = 0; |
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if (BMP085_State == 1){ |
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BMP085_State++; |
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}else{ |
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if (BMP085_State == 5){ |
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BMP085_State = 1; // Start again from state = 1 |
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result = 1; // New pressure reading |
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}else{ |
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BMP085_State++; |
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result = 1; // New pressure reading |
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} |
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} |
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return(result); |
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} |
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void AP_Baro_BMP085_HIL::setHIL(float _Temp, float _Press) |
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{ |
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// TODO: map floats to raw |
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Temp = _Temp; |
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Press = _Press; |
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healthy = true; |
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} |
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int32_t AP_Baro_BMP085_HIL::get_pressure() { |
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return Press; |
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} |
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int16_t AP_Baro_BMP085_HIL::get_temperature() { |
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return Temp; |
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} |
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float AP_Baro_BMP085_HIL::get_altitude() { |
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return 0.0; // TODO |
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} |
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int32_t AP_Baro_BMP085_HIL::get_raw_pressure() { |
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return Press; |
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} |
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int32_t AP_Baro_BMP085_HIL::get_raw_temp() { |
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return Temp; |
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}
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