mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.1 KiB
C++
52 lines
1.1 KiB
C++
#pragma once
|
|
|
|
#include "AP_Baro_Backend.h"
|
|
|
|
#if AP_BARO_SPL06_ENABLED
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/Device.h>
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
|
|
#ifndef HAL_BARO_SPL06_I2C_ADDR
|
|
#define HAL_BARO_SPL06_I2C_ADDR (0x76)
|
|
#endif
|
|
#ifndef HAL_BARO_SPL06_I2C_ADDR2
|
|
#define HAL_BARO_SPL06_I2C_ADDR2 (0x77)
|
|
#endif
|
|
|
|
class AP_Baro_SPL06 : public AP_Baro_Backend
|
|
{
|
|
public:
|
|
AP_Baro_SPL06(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);
|
|
|
|
private:
|
|
|
|
bool _init(void);
|
|
void _timer(void);
|
|
void _update_temperature(int32_t);
|
|
void _update_pressure(int32_t);
|
|
|
|
int32_t raw_value_scale_factor(uint8_t);
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
|
|
|
|
int8_t _timer_counter;
|
|
uint8_t _instance;
|
|
float _temp_raw;
|
|
float _pressure_sum;
|
|
uint32_t _pressure_count;
|
|
float _temperature;
|
|
|
|
// Internal calibration registers
|
|
int32_t _c00, _c10;
|
|
int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30;
|
|
};
|
|
|
|
#endif // AP_BARO_SPL06_ENABLED
|