mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.9 KiB
C++
70 lines
1.9 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 PRESS_FILTER_SIZE 2
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#include "AP_Baro.h"
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#include <AverageFilter.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() :
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RawPress(0),
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RawTemp(0),
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_temp_sum(0.0f),
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_press_sum(0.0f),
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_count(0),
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Temp(0.0f),
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Press(0.0f),
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_last_press_read_command_time(0),
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_last_temp_read_command_time(0),
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BMP085_State(0),
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ac1(0), ac2(0), ac3(0), b1(0), b2(0), mb(0), mc(0), md(0),
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ac4(0), ac5(0), ac6(0),
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_retry_time(0)
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{
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_pressure_samples = 1;
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}; // Constructor
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/* AP_Baro public interface: */
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bool init();
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uint8_t read();
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void accumulate(void);
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float get_pressure();
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float get_temperature();
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private:
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int32_t RawPress;
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int32_t RawTemp;
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float _temp_sum;
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float _press_sum;
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uint8_t _count;
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float Temp;
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float Press;
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// Flymaple has no EOC pin, so 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 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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AverageFilterInt32_Size4 _temp_filter;
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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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