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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_SPL06.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_SPL06_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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#ifndef HAL_BARO_SPL06_I2C_ADDR

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 #define HAL_BARO_SPL06_I2C_ADDR  (0x76)

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#endif

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#ifndef HAL_BARO_SPL06_I2C_ADDR2

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 #define HAL_BARO_SPL06_I2C_ADDR2 (0x77)

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#endif

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class AP_Baro_SPL06 : public AP_Baro_Backend

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{

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public:

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	enum class Type {

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		UNKNOWN,

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		SPL06,

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		SPA06,

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	};

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    AP_Baro_SPL06(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(void);

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    void _timer(void);

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    void _update_temperature(int32_t);

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    void _update_pressure(int32_t);

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    int32_t raw_value_scale_factor(uint8_t);

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

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    int8_t _timer_counter;

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    uint8_t _instance;

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    float _temp_raw;

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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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    // Internal calibration registers

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    int32_t _c00, _c10;

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    int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30, _c31, _c40;

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    Type type;

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};

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#endif  // AP_BARO_SPL06_ENABLED

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