/home/travis/build/lis-epfl/MAVRIC_Library/drivers/barometer_bmp085.hpp

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/*******************************************************************************
 * \file barometer_bmp085.hpp
 *
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Julien Lecoeur
 *
 * \brief   Driver for the BMP085 barometer
 *
 ******************************************************************************/


#ifndef BAROMETER_BMP085_HPP_
#define BAROMETER_BMP085_HPP_

#include <cstdint>
#include <cstdbool>

#include "hal/common/i2c.hpp"
#include "drivers/barometer.hpp"


typedef enum
{
    BMP085_IDLE,            
    BMP085_GET_TEMP,        
    BMP085_GET_PRESSURE     
} bmp085_state_t;


class Barometer_BMP085: public Barometer
{
public:
    Barometer_BMP085(I2c& i2c);


    bool init(void);


    bool read_eprom_calibration(void);


    bool update(void);

    uint64_t last_update_us(void) const;


    float pressure(void)  const;


    float altitude_gf(void) const;


    float altitude_gf_raw(void) const;


    float vertical_speed_lf(void) const;


    float vertical_speed_lf_raw(void) const;


    float temperature(void) const;


private:
    I2c&        i2c_;                   

    int16_t     ac1_;                   
    int16_t     ac2_;                   
    int16_t     ac3_;                   
    uint16_t    ac4_;                   
    uint16_t    ac5_;                   
    uint16_t    ac6_;                   
    int16_t     mb_;                    
    int16_t     mc_;                    
    int16_t     md_;                    
    int16_t     b1_;                    
    int16_t     b2_;                    

    uint8_t     raw_pressure_[3];       
    uint8_t     raw_temperature_[2];    

    float   altitude_raw_;          
    float   altitude_gf_raw_;       
    float   speed_lf_raw_;          

    float   pressure_;              
    float   temperature_;           
    float   altitude_gf_;           
    float   altitude_filtered;      
    float   speed_lf_;              

    float   last_altitudes_[3];     

    float   last_update_us_;        
    float   last_state_update_us_;  
    float   dt_s_;                  

    bmp085_state_t  state_;         
};

#endif /* BAROMETER_BMP085_HPP_ */