Baro.h

/*
  Baro.h - Library for interfacing with the BMP085 barometer from Sparkfun:
  http://www.sparkfun.com/products/9694
  Created by Myles Grant <myles@mylesgrant.com>
  See also: https://github.com/grantmd/QuadCopter
  
  This program is free software: you can redistribute it and/or modify 
  it under the terms of the GNU General Public License as published by 
  the Free Software Foundation, either version 3 of the License, or 
  (at your option) any later version. 

  This program is distributed in the hope that it will be useful, 
  but WITHOUT ANY WARRANTY; without even the implied warranty of 
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
  GNU General Public License for more details. 

  You should have received a copy of the GNU General Public License 
  along with this program. If not, see <http://www.gnu.org/licenses/>. 
*/
#ifndef Baro_h
#define Baro_h

#include "WProgram.h"
#include "Definitions.h"
#include "I2C.h"

class Baro : public I2C
{
  public:
    Baro();
    void init();
    
    void measure();

    float getAltitude();
    float getGroundAltitude();
    float getRawAltitude();

    short getTemp();
    long getPressure();
    
    void setGroundAltitude();
  private:
    void readUT(); // Uncompensated temperature
    unsigned int _ut;
    void readUP(); // Uncompensated pressure
    unsigned long _up;

    short _temp;
    long _pressure;

    I2C _i2c;

    float _altitude;
    float _groundAltitude;

    byte _overSamplingSetting;

    // Calibration values
    int _ac1;
    int _ac2; 
    int _ac3; 
    unsigned int _ac4;
    unsigned int _ac5;
    unsigned int _ac6;
    int _b1; 
    int _b2;
    int _mb;
    int _mc;
    int _md;
};

#endif