ardupilot/libraries/AP_Baro/AP_Baro_BMP085.h

63 lines
1.3 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_BARO_BMP085_H__
#define __AP_BARO_BMP085_H__
#define TEMP_FILTER_SIZE 4
#define PRESS_FILTER_SIZE 8
#include "AP_Baro.h"
class AP_Baro_BMP085 : public AP_Baro
{
public:
AP_Baro_BMP085(bool apm2_hardware):
_temp_index(0),
_press_index(0),
_apm2_hardware(apm2_hardware){}; // Constructor
/* AP_Baro public interface: */
bool init(AP_PeriodicProcess * scheduler);
uint8_t read();
int32_t get_pressure();
int16_t get_temperature();
float get_altitude();
int32_t get_raw_pressure();
int32_t get_raw_temp();
private:
int32_t RawPress;
int32_t _offset_press;
int32_t RawTemp;
int16_t Temp;
int32_t Press;
//int Altitude;
uint8_t oss;
bool _apm2_hardware;
//int32_t Press0; // Pressure at sea level
// State machine
uint8_t BMP085_State;
// Internal calibration registers
int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
uint16_t ac4, ac5, ac6;
int _temp_filter[TEMP_FILTER_SIZE];
int _press_filter[PRESS_FILTER_SIZE];
long _offset_temp;
uint8_t _temp_index;
uint8_t _press_index;
uint32_t _retry_time;
void Command_ReadPress();
void Command_ReadTemp();
void ReadPress();
void ReadTemp();
void Calculate();
};
#endif // __AP_BARO_BMP085_H__