ardupilot/libraries/AP_Baro/AP_Baro_SPL06.h

52 lines
1.1 KiB
C++

#pragma once
#include "AP_Baro_Backend.h"
#if AP_BARO_SPL06_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Device.h>
#include <AP_HAL/utility/OwnPtr.h>
#ifndef HAL_BARO_SPL06_I2C_ADDR
#define HAL_BARO_SPL06_I2C_ADDR (0x76)
#endif
#ifndef HAL_BARO_SPL06_I2C_ADDR2
#define HAL_BARO_SPL06_I2C_ADDR2 (0x77)
#endif
class AP_Baro_SPL06 : public AP_Baro_Backend
{
public:
AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
/* AP_Baro public interface: */
void update() override;
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
private:
bool _init(void);
void _timer(void);
void _update_temperature(int32_t);
void _update_pressure(int32_t);
int32_t raw_value_scale_factor(uint8_t);
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
int8_t _timer_counter;
uint8_t _instance;
float _temp_raw;
float _pressure_sum;
uint32_t _pressure_count;
float _temperature;
// Internal calibration registers
int32_t _c00, _c10;
int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30;
};
#endif // AP_BARO_SPL06_ENABLED