mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.2 KiB
C++
51 lines
1.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include <Filter/Filter.h>
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#include "AP_Baro_Backend.h"
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class AP_Baro_BMP085 : public AP_Baro_Backend
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{
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public:
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AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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/* AP_Baro public interface: */
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void update();
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void accumulate(void);
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private:
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void _cmd_read_pressure();
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void _cmd_read_temp();
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bool _read_pressure();
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void _read_temp();
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void _calculate();
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bool _data_ready();
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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AP_HAL::DigitalSource *_eoc;
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uint8_t _instance;
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bool _has_sample;
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// Boards with no EOC pin: 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 _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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uint32_t _retry_time;
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int32_t _raw_pressure;
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int32_t _raw_temp;
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int32_t _temp;
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AverageIntegralFilter<int32_t, int32_t, 10> _pressure_filter;
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};
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