mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.8 KiB
C++
60 lines
1.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_BARO_MS5611_H__
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#define __AP_BARO_MS5611_H__
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#include <AP_HAL.h>
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#include "AP_Baro.h"
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class AP_Baro_MS5611 : public AP_Baro
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{
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public:
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AP_Baro_MS5611() {}
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/* AP_Baro public interface: */
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bool init();
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uint8_t read();
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float get_pressure(); // in mbar*100 units
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float get_temperature(); // in celsius degrees * 100 units
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int32_t get_raw_pressure();
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int32_t get_raw_temp();
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void _calculate();
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private:
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/* Asynchronous handler functions: */
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static void _update(uint32_t );
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/* SPI device driver used from asynchronous function: */
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static AP_HAL::SPIDeviceDriver *_spi;
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static AP_HAL::Semaphore *_spi_sem;
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/* Asynchronous state: */
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static volatile bool _updated;
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static volatile uint8_t _d1_count;
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static volatile uint8_t _d2_count;
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static volatile uint32_t _s_D1, _s_D2;
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static uint8_t _state;
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static uint32_t _timer;
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/* Gates access to asynchronous state: */
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static bool _sync_access;
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/* Serial wrapper functions: */
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static uint8_t _spi_read(uint8_t reg);
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static uint16_t _spi_read_16bits(uint8_t reg);
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static uint32_t _spi_read_adc();
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static void _spi_write(uint8_t reg);
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float Temp;
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float Press;
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int32_t _raw_press;
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int32_t _raw_temp;
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// Internal calibration registers
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uint16_t C1,C2,C3,C4,C5,C6;
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float D1,D2;
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};
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#endif // __AP_BARO_MS5611_H__
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