bmp085.hpp

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/*********************************************************************
 *
 * Disclaimer
 *
 * This source code is not officially released or supported by Bosch Sensortec.
 * Please contact the listed authors with bugs or other modifications.
 * If you would like the official Bosch Sensortec drivers, please contact:
 * contact@bosch-sensortec.com
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//\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC


#ifndef BMP085_H_
#define BMP085_H_

#include <cmath>
#include <unistd.h> // for the sleep function

#include <bosch_drivers_sensor_driver.hpp>
#include <bosch_drivers_hardware_interface.hpp>

#include "bmp085_parameters.hpp"

using namespace bosch_drivers_common;

class BMP085: public sensor_driver, public BMP085Parameters
{
public:

  static const uint8_t PRESSURE_OSRS_0 = 0x34; // 4.5 [ms]
  static const uint8_t PRESSURE_OSRS_1 = 0x74; // 7.5 [ms]
  static const uint8_t PRESSURE_OSRS_2 = 0xB4; // 13.5 [ms]
  static const uint8_t PRESSURE_OSRS_3 = 0xF4; // 25.5 [ms]
 
  static const uint8_t INPUT_REG_ADDRESS = 0xF4;
  
  // UT is the temperature data. To calculate it, 
  //   UT = MSB<<8 + LSB
  // UP is the pressure data.  To calculate it, 
  //   UP = (MSB<<16 + LSB<<8 +XLSB) >> (8 - oss)
  // where oss is the oversample setting (0,1,2, or 3). 
  static const uint8_t MEAS_OUTPUT_MSB  = 0xF6;
  static const uint8_t MEAS_OUTPUT_LSB  = 0xF7;
  static const uint8_t MEAS_OUTPUT_XLSB = 0xF8;

  enum sampling_mode
  {
    ULTRA_LOW_POWER       = 0,
    STANDARD              = 1,
    HIGH                  = 2,
    ULTRA_HIGH_RESOLUTION = 3
  };

  BMP085( bosch_hardware_interface* hw );
  ~BMP085(); 

  // inheritted from sensor_driver
  uint8_t getDeviceAddress(); // depends on protocol_.
  
  bool initialize();
 
  bool takeMeasurement();
  
  bool getPressureData( void );
  
  bool getTemperatureData( void );
  
  double getTemperature();

  double getPressure();

  double getAltitude( void );
 
  double calcAltitude( double input_pressure );

  void setPressureAtSeaLevel( double pressure );

private:
  // BMP085 Register Addresses
  static const uint8_t DEVICE_ADDRESS = 0x77; // the address without the READ/WRITE bit.
 
  static const uint8_t ADDRESS_WRITE = 0xEE;
  static const uint8_t ADDRESS_READ  = 0xEF;
 
  static const uint8_t ADDRESS_AC1_MSB = 0xAA;
  static const uint8_t ADDRESS_AC1_LSB = 0xAB;
  static const uint8_t ADDRESS_AC2_MSB = 0xAC;
  static const uint8_t ADDRESS_AC2_LSB = 0xAD;
  static const uint8_t ADDRESS_AC3_MSB = 0xAE;
  static const uint8_t ADDRESS_AC3_LSB = 0xAF;
  static const uint8_t ADDRESS_AC4_MSB = 0xB0;
  static const uint8_t ADDRESS_AC4_LSB = 0xB1; 
  static const uint8_t ADDRESS_AC5_MSB = 0xB2;
  static const uint8_t ADDRESS_AC5_LSB = 0xB3;
  static const uint8_t ADDRESS_AC6_MSB = 0xB4;
  static const uint8_t ADDRESS_AC6_LSB = 0xB5;
  static const uint8_t ADDRESS_B1_MSB  = 0xB6;
  static const uint8_t ADDRESS_B1_LSB  = 0xB7;
  static const uint8_t ADDRESS_B2_MSB  = 0xB8;
  static const uint8_t ADDRESS_B2_LSB  = 0xB9;
  static const uint8_t ADDRESS_MB_MSB  = 0xBA;
  static const uint8_t ADDRESS_MB_LSB  = 0xBB;
  static const uint8_t ADDRESS_MC_MSB  = 0xBC;
  static const uint8_t ADDRESS_MC_LSB  = 0xBD;
  static const uint8_t ADDRESS_MD_MSB  = 0xBE;
  static const uint8_t ADDRESS_MF_LSB  = 0xBF;
 
  static const uint8_t ADDRESS_TEMP_REQUEST  = 0x2E;

  short oss; // oversample setting, which is essentially sampling_mode.

  short AC1, AC2, AC3;
  unsigned short AC4, AC5, AC6;
  short B1, B2;
  long B5; 
  short MB, MC, MD;
  long UT, UP;
  
  long T;
  
  long p; 

  double pressure_at_sea_level_;

  double altitude_;

  double temperature_; 

  double pressure_;

  bool writeToReg( uint8_t reg, uint8_t value );
};

#endif // BMP085_H_