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