Barometer_MS5611 Class Reference

Driver for the MS5611 barometer. More...

#include <barometer_ms5611.hpp>

Inheritance diagram for Barometer_MS5611:

Collaboration diagram for Barometer_MS5611:

List of all members.

Classes
struct	calibration_data_t
struct	conf_t
	Configuration structure. More...
Public Types
enum	state_t { INIT, IDLE, GET_TEMPERATURE, GET_PRESSURE }
	Sensor state. More...
enum	address_t { ADDR_CSBLOW = 0x77, ADDR_CSBHIGH = 0x76 }
enum	oversampling_ratio_t {   OSR_256 = 0x00, OSR_512 = 0x01, OSR_1024 = 0x02, OSR_2048 = 0x03,   OSR_4096 = 0x04 }
	Oversampling ratio. More...
Public Member Functions
	Barometer_MS5611 (I2c &i2c, conf_t config=default_config())
	Constructor.
bool	init (void)
	Initialise the sensor.
bool	update (void)
	Main update function Reads new values from sensor.
uint64_t	last_update_us (void) const
	Get the last update time in microseconds.
float	pressure (void) const
	Return the pressure (in Pa)
float	altitude_gf (void) const
	Get the altitude in meters above sea level.
float	altitude_gf_raw (void) const
	Get the unfiltered altitude in meters above sea level.
float	vertical_speed_lf (void) const
	Get the vertical speed in meters/second.
float	vertical_speed_lf_raw (void) const
	Get the unfiltered vertical speed in meters/second.
float	temperature (void) const
	Get sensor temperature.
Static Public Member Functions
static conf_t	default_config (void)
	Default Configuration.
Static Public Attributes
static const uint8_t	COMMAND_RESET = 0x1E
	Reset sensor.
static const uint8_t	COMMAND_GET_CALIBRATION = 0xA2
	Get 16bytes factory configuration from PROM.
static const uint8_t	COMMAND_START_PRESSURE_CONV = 0x40
	Start pressure conversion (must add oversampling ratio to this command)
static const uint8_t	COMMAND_START_TEMPERATURE_CONV = 0x50
	Start temperature conversion (must add oversampling ratio to this command)
static const uint8_t	COMMAND_GET_DATA = 0x00
	Get 3 bytes data (can be pressure or temperature depending of which sampling was started)

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Detailed Description

Driver for the MS5611 barometer.

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Member Enumeration Documentation

enum Barometer_MS5611::address_t

I2C address of the sensor

Enumerator:

ADDR_CSBLOW	I2C address when CSB pin is connected to GND.
ADDR_CSBHIGH	I2C address when CSB pin is connected to VCC.

enum Barometer_MS5611::oversampling_ratio_t

Oversampling ratio.

Enumerator:

OSR_256	256 : resolution 0.065mbar, sampling time 0.54ms
OSR_512	512 : resolution 0.042mbar, sampling time 1.06ms
OSR_1024	1024 : resolution 0.027mbar, sampling time 2.08ms
OSR_2048	2048 : resolution 0.018mbar, sampling time 4.13ms
OSR_4096	4096 : resolution 0.012mbar, sampling time 8.22ms

enum Barometer_MS5611::state_t

Sensor state.

Enumerator:

INIT	Sensor is not responding, will retry.
IDLE	First run, start temperature sampling.
GET_TEMPERATURE	Read temperature from sensor, start pressure sampling.
GET_PRESSURE	Read pressure from sensor, start temperature sampling.

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Constructor & Destructor Documentation

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

Constructor.

Parameters:

i2c	Reference to I2C device

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Member Function Documentation

float Barometer_MS5611::altitude_gf

(

void

)

const [virtual]

Get the altitude in meters above sea level.

Global frame: (>0 means upward)

Returns:

Value

Implements Barometer.

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float Barometer_MS5611::altitude_gf_raw

(

void

)

const [virtual]

Get the unfiltered altitude in meters above sea level.

Global frame: (>0 means upward)

Returns:

Value

Implements Barometer.

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Barometer_MS5611::conf_t Barometer_MS5611::default_config

(

void

)

[inline, static]

Default Configuration.

Returns:

config

bool Barometer_MS5611::init

(

void

)

[virtual]

Initialise the sensor.

Returns:

Success

Implements Barometer.

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uint64_t Barometer_MS5611::last_update_us

(

void

)

const [virtual]

Get the last update time in microseconds.

Returns:

Value

Implements Barometer.

float Barometer_MS5611::pressure

(

void

)

const [virtual]

Return the pressure (in Pa)

Returns:

Value

Implements Barometer.

float Barometer_MS5611::temperature

(

void

)

const [virtual]

Get sensor temperature.

Returns:

Value

Implements Barometer.

bool Barometer_MS5611::update

(

void

)

[virtual]

Main update function Reads new values from sensor.

Returns:

Success

Implements Barometer.

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float Barometer_MS5611::vertical_speed_lf

(

void

)

const [virtual]

Get the vertical speed in meters/second.

NED frame: (>0 means downward)

Returns:

Value

Implements Barometer.

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float Barometer_MS5611::vertical_speed_lf_raw

(

void

)

const [virtual]

Get the unfiltered vertical speed in meters/second.

NED frame: (>0 means downward)

Returns:

Value

Implements Barometer.

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The documentation for this class was generated from the following files:

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