Book a Demo!
CoCalc Logo Icon
StoreFeaturesDocsShareSupportNewsAboutPoliciesSign UpSign In
Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_BMP085.h
9751 views
1
#pragma once

2


3
#include "AP_Baro_Backend.h"

4


5
#if AP_BARO_BMP085_ENABLED

6


7
#include <AP_HAL/AP_HAL.h>

8
#include <AP_HAL/I2CDevice.h>

9
#include <Filter/Filter.h>

10


11
#ifndef HAL_BARO_BMP085_I2C_ADDR

12
#define HAL_BARO_BMP085_I2C_ADDR        (0x77)

13
#endif

14


15
class AP_Baro_BMP085 : public AP_Baro_Backend {

16
public:

17
    AP_Baro_BMP085(AP_Baro &baro, AP_HAL::Device &dev);

18


19
    /* AP_Baro public interface: */

20
    void update() override;

21


22
    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::Device &dev);

23


24


25
private:

26
    bool _init();

27


28
    void _cmd_read_pressure();

29
    void _cmd_read_temp();

30
    bool _read_pressure();

31
    void _read_temp();

32
    void _calculate();

33
    bool _data_ready();

34


35
    void _timer(void);

36


37
    uint16_t _read_prom_word(uint8_t word);

38
    bool     _read_prom(uint16_t *prom);

39


40


41
    AP_HAL::Device *_dev;

42
    AP_HAL::DigitalSource *_eoc;

43


44
    uint8_t _instance;

45
    bool _has_sample;

46


47
    // Boards with no EOC pin: use times instead

48
    uint32_t _last_press_read_command_time;

49
    uint32_t _last_temp_read_command_time;

50


51
    // State machine

52
    uint8_t _state;

53


54
    // Internal calibration registers

55
    int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;

56
    uint16_t ac4, ac5, ac6;

57


58
    int32_t _raw_pressure;

59
    int32_t _raw_temp;

60
    int32_t _temp;

61
    AverageIntegralFilter<int32_t, int32_t, 10> _pressure_filter;

62


63
    uint8_t _vers;

64
    uint8_t _type;

65
};

66


67
#endif  // AP_BARO_BMP085_ENABLED

68


69