mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.3 KiB
C++
63 lines
1.3 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_BARO_BMP085_H__
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#define __AP_BARO_BMP085_H__
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#define TEMP_FILTER_SIZE 4
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#define PRESS_FILTER_SIZE 8
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#include "AP_Baro.h"
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class AP_Baro_BMP085 : public AP_Baro
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{
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public:
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AP_Baro_BMP085(bool apm2_hardware):
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_temp_index(0),
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_press_index(0),
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_apm2_hardware(apm2_hardware){}; // Constructor
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/* AP_Baro public interface: */
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bool init(AP_PeriodicProcess * scheduler);
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uint8_t read();
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int32_t get_pressure();
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int16_t get_temperature();
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float get_altitude();
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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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int32_t RawPress;
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int32_t _offset_press;
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int32_t RawTemp;
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int16_t Temp;
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int32_t Press;
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//int Altitude;
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uint8_t oss;
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bool _apm2_hardware;
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//int32_t Press0; // Pressure at sea level
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// State machine
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uint8_t BMP085_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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int _temp_filter[TEMP_FILTER_SIZE];
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int _press_filter[PRESS_FILTER_SIZE];
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long _offset_temp;
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uint8_t _temp_index;
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uint8_t _press_index;
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uint32_t _retry_time;
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void Command_ReadPress();
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void Command_ReadTemp();
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void ReadPress();
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void ReadTemp();
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void Calculate();
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};
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#endif // __AP_BARO_BMP085_H__
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