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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_LPS2XH.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_LPS2XH_ENABLED

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#include <AP_HAL/AP_HAL.h>

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#include <AP_HAL/Device.h>

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#include <AP_HAL/utility/OwnPtr.h>

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#include <AP_Math/AP_Math.h>

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#define HAL_BARO_LPS25H_I2C_BUS 0

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#ifndef HAL_BARO_LPS25H_I2C_ADDR

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# define HAL_BARO_LPS25H_I2C_ADDR 0x5D

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#endif

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class AP_Baro_LPS2XH : public AP_Baro_Backend

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{

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public:

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    enum LPS2XH_TYPE {

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        BARO_LPS22H = 0,

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        BARO_LPS25H = 1,

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    };

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    AP_Baro_LPS2XH(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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    static AP_Baro_Backend *probe_InvensenseIMU(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, uint8_t imu_address);

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private:

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    virtual ~AP_Baro_LPS2XH(void) {};

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    bool _init(void);

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    void _timer(void);

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    void _update_temperature(void);

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    void _update_pressure(void);

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    bool _imu_i2c_init(uint8_t imu_address);

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    bool _check_whoami(void);

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

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    uint8_t _instance;

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    float _pressure_sum;

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    uint32_t _pressure_count;

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    float _temperature;

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    uint32_t CallTime = 0;

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    enum LPS2XH_TYPE _lps2xh_type;

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};

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#endif  // AP_BARO_LPS2XH_ENABLED

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