mirror of https://github.com/ArduPilot/ardupilot
73 lines
1.4 KiB
C++
73 lines
1.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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extern "C" {
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// AVR LibC Includes
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#include <inttypes.h>
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#include <avr/interrupt.h>
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#include "WConstants.h"
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}
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#include "AP_Baro_BMP085_hil.h"
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// Constructors ////////////////////////////////////////////////////////////////
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AP_Baro_BMP085_HIL::AP_Baro_BMP085_HIL()
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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bool AP_Baro_BMP085_HIL::init(AP_PeriodicProcess * scheduler)
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{
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BMP085_State=1;
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return true;
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}
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// Read the sensor. This is a state machine
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// We read one time Temperature (state = 1) and then 4 times Pressure (states 2-5)
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uint8_t AP_Baro_BMP085_HIL::read()
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{
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uint8_t result = 0;
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if (BMP085_State == 1){
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BMP085_State++;
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}else{
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if (BMP085_State == 5){
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BMP085_State = 1; // Start again from state = 1
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result = 1; // New pressure reading
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}else{
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BMP085_State++;
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result = 1; // New pressure reading
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}
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}
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return(result);
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}
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void AP_Baro_BMP085_HIL::setHIL(float _Temp, float _Press)
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{
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// TODO: map floats to raw
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Temp = _Temp;
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Press = _Press;
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healthy = true;
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}
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int32_t AP_Baro_BMP085_HIL::get_pressure() {
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return Press;
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}
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int16_t AP_Baro_BMP085_HIL::get_temperature() {
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return Temp;
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}
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float AP_Baro_BMP085_HIL::get_altitude() {
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return 0.0; // TODO
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}
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int32_t AP_Baro_BMP085_HIL::get_raw_pressure() {
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return Press;
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}
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int32_t AP_Baro_BMP085_HIL::get_raw_temp() {
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return Temp;
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}
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