ardupilot/libraries/AP_Baro/AP_Baro_BMP085.h

70 lines
1.9 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 PRESS_FILTER_SIZE 2
#include "AP_Baro.h"
#include <AverageFilter.h>
class AP_Baro_BMP085 : public AP_Baro
{
public:
AP_Baro_BMP085() :
RawPress(0),
RawTemp(0),
_temp_sum(0.0f),
_press_sum(0.0f),
_count(0),
Temp(0.0f),
Press(0.0f),
_last_press_read_command_time(0),
_last_temp_read_command_time(0),
BMP085_State(0),
ac1(0), ac2(0), ac3(0), b1(0), b2(0), mb(0), mc(0), md(0),
ac4(0), ac5(0), ac6(0),
_retry_time(0)
{
_pressure_samples = 1;
}; // Constructor
/* AP_Baro public interface: */
bool init();
uint8_t read();
void accumulate(void);
float get_pressure();
float get_temperature();
private:
int32_t RawPress;
int32_t RawTemp;
float _temp_sum;
float _press_sum;
uint8_t _count;
float Temp;
float Press;
// Flymaple has no EOC pin, so use times instead
uint32_t _last_press_read_command_time;
uint32_t _last_temp_read_command_time;
// State machine
uint8_t BMP085_State;
// Internal calibration registers
int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
uint16_t ac4, ac5, ac6;
AverageFilterInt32_Size4 _temp_filter;
uint32_t _retry_time;
void Command_ReadPress();
void Command_ReadTemp();
void ReadPress();
void ReadTemp();
void Calculate();
};
#endif // __AP_BARO_BMP085_H__