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AP_Baro_MS5611: Implement AP_Baro interface

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This commit is contained in:
Pat Hickey 2011-11-29 20:32:23 -08:00
parent f0ab0318b3
commit 1832ed0355
1 changed files with 14 additions and 2 deletions
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16
libraries/AP_Baro/AP_Baro_MS5611.cpp
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@ -148,6 +148,7 @@ uint8_t AP_Baro_MS5611::read()
if (MS5611_State == 1){
if (MS5611_Ready()){
D2=MS5611_SPI_read_ADC(); // On state 1 we read temp
_raw_temp = D2;
MS5611_State++;
MS5611_SPI_write(CMD_CONVERT_D1_OSR4096); // Command to read pressure
MS5611_timer = millis();
@ -156,6 +157,7 @@ uint8_t AP_Baro_MS5611::read()
if (MS5611_State == 5){
if (MS5611_Ready()){
D1=MS5611_SPI_read_ADC();
_raw_press = D1;
calculate();
MS5611_State = 1; // Start again from state = 1
MS5611_SPI_write(CMD_CONVERT_D2_OSR4096); // Command to read temperature
@ -165,6 +167,7 @@ uint8_t AP_Baro_MS5611::read()
}else{
if (MS5611_Ready()){
D1=MS5611_SPI_read_ADC();
_raw_press = D1;
calculate();
MS5611_State++;
MS5611_SPI_write(CMD_CONVERT_D1_OSR4096); // Command to read pressure
@ -209,12 +212,12 @@ void AP_Baro_MS5611::calculate()
Press = P;
}
uint32_t AP_Baro_MS5611::get_pressure()
int32_t AP_Baro_MS5611::get_pressure()
{
return(Press);
}
uint16_t AP_Baro_MS5611::get_temperature()
int16_t AP_Baro_MS5611::get_temperature()
{
return(Temp);
}
@ -232,3 +235,12 @@ float AP_Baro_MS5611::get_altitude()
return (Altitude);
}
int32_t AP_Baro_MS5611::get_raw_pressure() {
return _raw_press;
}
int32_t AP_Baro_MS5611::get_raw_temp() {
return _raw_temp;
}