void readBar(){
  int32_t b3,b6,x1,x2,x3;
  uint32_t b4,b7;

  switch(bar_state){
    case initTemp:
      bar_state=getTemp;
      writeTo(BAR_ADDRESS, 0xF4, 0x2E);
      bar_timers[temp]=millis();
      break;
    case getTemp:
      if(millis()>bar_timers[temp]+BAR_TEMPDELAY){
        bar_state=initPres;
        readFrom(BAR_ADDRESS, 0xF6, 2, bar_buff);
        bar_data[temp]=(bar_buff[0]<<8)|bar_buff[1];
        x1=((bar_data[temp]-(uint16_t)bar_calib[ac6])*(uint16_t)bar_calib[ac5])>>15;
        x2=((int32_t)bar_calib[mc]<<11)/(x1+bar_calib[md]);
        b5=x1+x2;
        bar_data[temp]=(b5+8)>>4;
      }
      break;
    case initPres:
      bar_state=getPres;
      writeTo(BAR_ADDRESS, 0xF4, 0x34+(BAR_SENSITIVITY<<6));
      bar_timers[pressure]=millis();
      break;
    case getPres:
      if(millis()>bar_timers[pressure]+BAR_PRESDELAY){
        if(millis()>bar_timers[temp]+1000)
          bar_state=initTemp;
        else
          bar_state=initPres;
        readFrom(BAR_ADDRESS, 0xF6, 3, bar_buff);
        bar_data[pressure]=((((uint32_t)bar_buff[0])<<16)|((uint32_t)bar_buff[1]<<8)|bar_buff[2])>>(8-BAR_SENSITIVITY);
        b6=b5-4000;
        x1=(bar_calib[b2]*(b6*b6)>>12)>>11;
        x2=(bar_calib[ac2]*b6)>>11;
        x3=x1+x2;
        b3=(((((int32_t)bar_calib[ac1])*4+x3)<<BAR_SENSITIVITY)+2)>>2;
        x1=(bar_calib[ac3]*b6)>>13;
        x2=(bar_calib[b1]*((b6*b6)>>12))>>16;
        x3=((x1+x2)+2)>>2;
        b4=((uint16_t)bar_calib[ac4]*(uint32_t)(x3+32768))>>15;
        b7=((uint32_t)(bar_data[pressure]-b3)*(50000>>BAR_SENSITIVITY));

        if(b7<0x80000000)
          bar_data[pressure]=(b7<<1)/b4;
        else
          bar_data[pressure]=(b7/b4)<<1;
        x1=(bar_data[pressure]>>8)*(bar_data[pressure]>>8);
        x1=(x1*3038)>>16;
        x2=(-7357*bar_data[pressure])>>16;
        bar_data[pressure]+=((x1+x2+3791)>>4);
      }
      break;
    default:
      Serial.println("Error in bar_state!");
  }
}