mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.0 KiB
C
48 lines
1.0 KiB
C
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Device.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include "AP_Baro_Backend.h"
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#ifndef HAL_BARO_SPL06_I2C_ADDR
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#define HAL_BARO_SPL06_I2C_ADDR (0x76)
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#endif
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#ifndef HAL_BARO_SPL06_I2C_ADDR2
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#define HAL_BARO_SPL06_I2C_ADDR2 (0x77)
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#endif
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class AP_Baro_SPL06 : public AP_Baro_Backend
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{
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public:
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AP_Baro_SPL06(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(void);
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void _timer(void);
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void _update_temperature(int32_t);
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void _update_pressure(int32_t);
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int32_t raw_value_scale_factor(uint8_t);
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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int8_t _timer_counter;
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bool _has_sample;
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uint8_t _instance;
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float _temp_raw;
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float _pressure;
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float _temperature;
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// Internal calibration registers
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int32_t _c00, _c10;
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int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30;
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};
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