ardupilot/libraries/AP_Baro/AP_Baro_LPS2XH.h

62 lines
1.3 KiB
C++

#pragma once
#include "AP_Baro_Backend.h"
#ifndef AP_BARO_LPS2XH_ENABLED
#define AP_BARO_LPS2XH_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
#endif
#if AP_BARO_LPS2XH_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Device.h>
#include <AP_HAL/utility/OwnPtr.h>
#define HAL_BARO_LPS25H_I2C_BUS 0
#ifndef HAL_BARO_LPS25H_I2C_ADDR
# define HAL_BARO_LPS25H_I2C_ADDR 0x5D
#endif
class AP_Baro_LPS2XH : public AP_Baro_Backend
{
public:
enum LPS2XH_TYPE {
BARO_LPS22H = 0,
BARO_LPS25H = 1,
};
AP_Baro_LPS2XH(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);
static AP_Baro_Backend *probe_InvensenseIMU(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, uint8_t imu_address);
private:
virtual ~AP_Baro_LPS2XH(void) {};
bool _init(void);
void _timer(void);
void _update_temperature(void);
void _update_pressure(void);
bool _imu_i2c_init(uint8_t imu_address);
bool _check_whoami(void);
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
uint8_t _instance;
float _pressure_sum;
uint32_t _pressure_count;
float _temperature;
uint32_t CallTime = 0;
enum LPS2XH_TYPE _lps2xh_type;
};
#endif // AP_BARO_LPS2XH_ENABLED