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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_BMP085.h
Views: 1798
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#pragma once

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#include "AP_Baro_Backend.h"

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#if AP_BARO_BMP085_ENABLED

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#include <AP_HAL/AP_HAL.h>

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#include <AP_HAL/I2CDevice.h>

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#include <AP_HAL/utility/OwnPtr.h>

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#include <Filter/Filter.h>

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#ifndef HAL_BARO_BMP085_I2C_ADDR

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#define HAL_BARO_BMP085_I2C_ADDR        (0x77)

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#endif

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class AP_Baro_BMP085 : public AP_Baro_Backend {

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public:

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    AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);

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    /* AP_Baro public interface: */

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    void update() override;

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);

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private:

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    bool _init();

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    void _cmd_read_pressure();

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    void _cmd_read_temp();

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    bool _read_pressure();

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    void _read_temp();

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    void _calculate();

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    bool _data_ready();

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    void _timer(void);

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    uint16_t _read_prom_word(uint8_t word);

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    bool     _read_prom(uint16_t *prom);

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    AP_HAL::OwnPtr<AP_HAL::Device> _dev;

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    AP_HAL::DigitalSource *_eoc;

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    uint8_t _instance;

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    bool _has_sample;

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    // Boards with no EOC pin: use times instead

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    uint32_t _last_press_read_command_time;

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    uint32_t _last_temp_read_command_time;

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    // State machine

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    uint8_t _state;

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    // Internal calibration registers

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

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    uint16_t ac4, ac5, ac6;

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    int32_t _raw_pressure;

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    int32_t _raw_temp;

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    int32_t _temp;

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    AverageIntegralFilter<int32_t, int32_t, 10> _pressure_filter;

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    uint8_t _vers;

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    uint8_t _type;

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};

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#endif  // AP_BARO_BMP085_ENABLED

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