/home/travis/build/lis-epfl/MAVRIC_Library/drivers/barometer_ms5611.hpp

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/*******************************************************************************
 * \file barometer_ms5611.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Driver for the MS5611 barometer
 *
 ******************************************************************************/


#ifndef MS5611_HPP_
#define MS5611_HPP_

#include <cstdint>
#include <cstdbool>

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

class Barometer_MS5611: public Barometer
{
public:
    enum class state_t
    {
        INIT,                  
        IDLE,                   
        GET_TEMPERATURE,        
        GET_PRESSURE,           
    };

    enum class address_t
    {
        ADDR_CSBLOW  = 0x77,     
        ADDR_CSBHIGH = 0x76,     
    };

    enum class oversampling_ratio_t
    {
        OSR_256  = 0x00,            
        OSR_512  = 0x01,            
        OSR_1024 = 0x02,            
        OSR_2048 = 0x03,            
        OSR_4096 = 0x04,            
    };

    struct calibration_data_t
    {
        uint16_t SENS_T1;
        uint16_t OFF_T1;
        uint16_t TCS;
        uint16_t TCO;
        uint16_t T_REF;
        uint16_t TEMPSENS;
    };

    static const uint8_t COMMAND_RESET                    = 0x1E;  
    static const uint8_t COMMAND_GET_CALIBRATION          = 0xA2;  
    static const uint8_t COMMAND_START_PRESSURE_CONV      = 0x40;  
    static const uint8_t COMMAND_START_TEMPERATURE_CONV   = 0x50;  
    static const uint8_t COMMAND_GET_DATA                 = 0x00;  

    struct conf_t
    {
        address_t               address;
        oversampling_ratio_t    oversampling_ratio_pressure;
        oversampling_ratio_t    oversampling_ratio_temperature;
    };

    static inline conf_t default_config(void);

    Barometer_MS5611(I2c& i2c, conf_t config = default_config());


    bool init(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_;                   
    conf_t      config_;                
    state_t     state_;                 

    calibration_data_t  calib_;          
    uint8_t             i2c_address;     

    uint32_t time_sampling_start_ms_;   

    float       last_state_update_us_;  
    float       last_update_us_;        
    float       dt_s_;                  
    float   pressure_;              
    float   temperature_;           
    float   altitude_gf_;           
    float   speed_lf_;              

    float       last_altitudes_[3];     

    bool start_temperature_sampling(void);

    bool read_temperature(void);

    bool start_pressure_sampling(void);

    bool read_pressure(void);
};


Barometer_MS5611::conf_t Barometer_MS5611::default_config(void)
{
    Barometer_MS5611::conf_t config = {};

    config.address                         = address_t::ADDR_CSBLOW;
    // config.oversampling_ratio_pressure     = oversampling_ratio_t::OSR_4096;
    // config.oversampling_ratio_temperature  = oversampling_ratio_t::OSR_4096;

    config.oversampling_ratio_pressure     = oversampling_ratio_t::OSR_256;
    config.oversampling_ratio_temperature  = oversampling_ratio_t::OSR_256;

    return config;
}

#endif /* BMP085_HPP_ */