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