diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 7055200811..8b0198d8fc 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -40,6 +40,7 @@
#include "AP_Baro_LPS2XH.h"
#include "AP_Baro_FBM320.h"
#include "AP_Baro_DPS280.h"
+#include "AP_Baro_BMP388.h"
#if HAL_WITH_UAVCAN
#include "AP_Baro_UAVCAN.h"
#endif
@@ -157,8 +158,8 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
// @Param: PROBE_EXT
// @DisplayName: External barometers to probe
// @Description: This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If GND_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.
- // @Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller
- // @Values: 1:BMP085,2:BMP280,4:MS5611,8:MS5607,16:MS5637,32:FBM320,64:DPS280,128:LPS25H,256:Keller
+ // @Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,10:MS5837,11:BMP388
+ // @Values: 1:BMP085,2:BMP280,4:MS5611,8:MS5607,16:MS5637,32:FBM320,64:DPS280,128:LPS25H,256:Keller,512:MS5837,1024:BMP388
// @User: Advanced
AP_GROUPINFO("PROBE_EXT", 14, AP_Baro, _baro_probe_ext, HAL_BARO_PROBE_EXT_DEFAULT),
#endif
@@ -666,6 +667,14 @@ void AP_Baro::_probe_i2c_barometers(void)
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_BMP280_I2C_ADDR2))));
}
}
+ if (probe & PROBE_BMP388) {
+ FOREACH_I2C_MASK(i,mask) {
+ ADD_BACKEND(AP_Baro_BMP388::probe(*this,
+ std::move(hal.i2c_mgr->get_device(i, HAL_BARO_BMP388_I2C_ADDR))));
+ ADD_BACKEND(AP_Baro_BMP388::probe(*this,
+ std::move(hal.i2c_mgr->get_device(i, HAL_BARO_BMP388_I2C_ADDR2))));
+ }
+ }
if (probe & PROBE_MS5611) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index 9268064b18..fd3cda7e01 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -214,6 +214,7 @@ private:
PROBE_LPS25H=(1<<7),
PROBE_KELLER=(1<<8),
PROBE_MS5837=(1<<9),
+ PROBE_BMP388=(1<<10),
};
struct sensor {
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.cpp b/libraries/AP_Baro/AP_Baro_BMP388.cpp
new file mode 100644
index 0000000000..b32ab9329c
--- /dev/null
+++ b/libraries/AP_Baro/AP_Baro_BMP388.cpp
@@ -0,0 +1,214 @@
+/*
+ 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 .
+ */
+#include "AP_Baro_BMP388.h"
+
+#include
+
+extern const AP_HAL::HAL &hal;
+
+#define BMP388_MODE_SLEEP 0
+#define BMP388_MODE_FORCED 1
+#define BMP388_MODE_NORMAL 3
+#define BMP388_MODE BMP388_MODE_NORMAL
+
+#define BMP388_ID 0x50
+
+#define BMP388_REG_ID 0x00
+#define BMP388_REG_ERR 0x02
+#define BMP388_REG_STATUS 0x03
+#define BMP388_REG_PRESS 0x04 // 24 bit
+#define BMP388_REG_TEMP 0x07 // 24 bit
+#define BMP388_REG_TIME 0x0C // 24 bit
+#define BMP388_REG_EVENT 0x10
+#define BMP388_REG_INT_STS 0x11
+#define BMP388_REG_FIFO_LEN 0x12 // 9 bit
+#define BMP388_REG_FIFO_DATA 0x14
+#define BMP388_REG_FIFO_WTMK 0x15 // 9 bit
+#define BMP388_REG_FIFO_CNF1 0x17
+#define BMP388_REG_FIFO_CNF2 0x18
+#define BMP388_REG_INT_CTRL 0x19
+#define BMP388_REG_PWR_CTRL 0x1B
+#define BMP388_REG_OSR 0x1C
+#define BMP388_REG_ODR 0x1D
+#define BMP388_REG_CONFIG 0x1F
+#define BMP388_REG_CMD 0x7E
+
+#define BMP388_REG_CAL_P 0x36
+#define BMP388_REG_CAL_T 0x31
+
+AP_Baro_BMP388::AP_Baro_BMP388(AP_Baro &baro, AP_HAL::OwnPtr _dev)
+ : AP_Baro_Backend(baro)
+ , dev(std::move(_dev))
+{
+}
+
+AP_Baro_Backend *AP_Baro_BMP388::probe(AP_Baro &baro,
+ AP_HAL::OwnPtr _dev)
+{
+ if (!_dev) {
+ return nullptr;
+ }
+
+ AP_Baro_BMP388 *sensor = new AP_Baro_BMP388(baro, std::move(_dev));
+ if (!sensor || !sensor->init()) {
+ delete sensor;
+ return nullptr;
+ }
+ return sensor;
+}
+
+bool AP_Baro_BMP388::init()
+{
+ if (!dev) {
+ return false;
+ }
+ WITH_SEMAPHORE(dev->get_semaphore());
+
+ has_sample = false;
+
+ dev->set_speed(AP_HAL::Device::SPEED_HIGH);
+
+ // setup to allow reads on SPI
+ if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
+ dev->set_read_flag(0x80);
+ }
+
+ // normal mode, temp and pressure
+ dev->write_register(BMP388_REG_PWR_CTRL, 0x33, true);
+
+ uint8_t whoami;
+ if (!dev->read_registers(BMP388_REG_ID, &whoami, 1) ||
+ whoami != BMP388_ID) {
+ // not a BMP388
+ return false;
+ }
+
+ // read the calibration data
+ dev->read_registers(BMP388_REG_CAL_P, (uint8_t *)&calib_p, sizeof(calib_p));
+ dev->read_registers(BMP388_REG_CAL_T, (uint8_t *)&calib_t, sizeof(calib_t));
+
+ scale_calibration_data();
+
+ dev->setup_checked_registers(4);
+
+ // normal mode, temp and pressure
+ dev->write_register(BMP388_REG_PWR_CTRL, 0x33, true);
+
+ instance = _frontend.register_sensor();
+
+ // request 50Hz update
+ dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP388::timer, void));
+
+ return true;
+}
+
+
+
+// acumulate a new sensor reading
+void AP_Baro_BMP388::timer(void)
+{
+ uint8_t buf[7];
+
+ if (!dev->read_registers(BMP388_REG_STATUS, buf, sizeof(buf))) {
+ return;
+ }
+ const uint8_t status = buf[0];
+ if ((status & 0x20) != 0) {
+ // we have pressure data
+ update_pressure((buf[3] << 16) | (buf[2] << 8) | buf[1]);
+ }
+ if ((status & 0x40) != 0) {
+ // we have temperature data
+ update_temperature((buf[6] << 16) | (buf[5] << 8) | buf[4]);
+ }
+
+ dev->check_next_register();
+}
+
+// transfer data to the frontend
+void AP_Baro_BMP388::update(void)
+{
+ WITH_SEMAPHORE(_sem);
+
+ if (!has_sample) {
+ return;
+ }
+
+ _copy_to_frontend(instance, pressure, temperature);
+ has_sample = false;
+}
+
+/*
+ convert calibration data from NVM values to values ready for
+ compensation calculations
+ */
+void AP_Baro_BMP388::scale_calibration_data(void)
+{
+ // note that this assumes little-endian MCU
+ calib.par_t1 = calib_t.nvm_par_t1 * 256.0;
+ calib.par_t2 = calib_t.nvm_par_t2 / 1073741824.0f;
+ calib.par_t3 = calib_t.nvm_par_t3 / 281474976710656.0f;
+
+ calib.par_p1 = (calib_p.nvm_par_p1 - 16384) / 1048576.0f;
+ calib.par_p2 = (calib_p.nvm_par_p2 - 16384) / 536870912.0f;
+ calib.par_p3 = calib_p.nvm_par_p3 / 4294967296.0f;
+ calib.par_p4 = calib_p.nvm_par_p4 / 137438953472.0;
+ calib.par_p5 = calib_p.nvm_par_p5 * 8.0f;
+ calib.par_p6 = calib_p.nvm_par_p6 / 64.0;
+ calib.par_p7 = calib_p.nvm_par_p7 / 256.0f;
+ calib.par_p8 = calib_p.nvm_par_p8 / 32768.0f;
+ calib.par_p9 = calib_p.nvm_par_p9 / 281474976710656.0f;
+ calib.par_p10 = calib_p.nvm_par_p10 / 281474976710656.0f;
+ calib.par_p11 = calib_p.nvm_par_p11 / 36893488147419103232.0f;
+}
+
+/*
+ update temperature from raw sample
+ */
+void AP_Baro_BMP388::update_temperature(uint32_t data)
+{
+ float partial1 = data - calib.par_t1;
+ float partial2 = partial1 * calib.par_t2;
+
+ WITH_SEMAPHORE(_sem);
+ temperature = partial2 + sq(partial1) * calib.par_t3;
+}
+
+/*
+ update pressure from raw pressure data
+ */
+void AP_Baro_BMP388::update_pressure(uint32_t data)
+{
+ float partial1 = calib.par_p6 * temperature;
+ float partial2 = calib.par_p7 * powf(temperature, 2);
+ float partial3 = calib.par_p8 * powf(temperature, 3);
+ float partial_out1 = calib.par_p5 + partial1 + partial2 + partial3;
+
+ partial1 = calib.par_p2 * temperature;
+ partial2 = calib.par_p3 * powf(temperature, 2);
+ partial3 = calib.par_p4 * powf(temperature, 3);
+ float partial_out2 = data * (calib.par_p1 + partial1 + partial2 + partial3);
+
+ partial1 = powf(data, 2);
+ partial2 = calib.par_p9 + calib.par_p10 * temperature;
+ partial3 = partial1 * partial2;
+ float partial4 = partial3 + powf(data, 3) * calib.par_p11;
+ float press = partial_out1 + partial_out2 + partial4;
+
+ WITH_SEMAPHORE(_sem);
+
+ pressure = press;
+ has_sample = true;
+}
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.h b/libraries/AP_Baro/AP_Baro_BMP388.h
new file mode 100644
index 0000000000..edba1d5b52
--- /dev/null
+++ b/libraries/AP_Baro/AP_Baro_BMP388.h
@@ -0,0 +1,81 @@
+#pragma once
+
+#include
+#include
+#include
+
+#include "AP_Baro_Backend.h"
+
+#ifndef HAL_BARO_BMP388_I2C_ADDR
+ #define HAL_BARO_BMP388_I2C_ADDR (0x76)
+#endif
+#ifndef HAL_BARO_BMP388_I2C_ADDR2
+ #define HAL_BARO_BMP388_I2C_ADDR2 (0x77)
+#endif
+
+class AP_Baro_BMP388 : public AP_Baro_Backend
+{
+public:
+ AP_Baro_BMP388(AP_Baro &baro, AP_HAL::OwnPtr _dev);
+
+ /* AP_Baro public interface: */
+ void update() override;
+
+ static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr _dev);
+
+private:
+
+ bool init(void);
+ void timer(void);
+ void update_temperature(uint32_t);
+ void update_pressure(uint32_t);
+
+ AP_HAL::OwnPtr dev;
+
+ bool has_sample;
+ uint8_t instance;
+ float pressure;
+ float temperature;
+
+ // Internal calibration registers
+ struct PACKED {
+ int16_t nvm_par_p1; // at 0x36
+ int16_t nvm_par_p2;
+ int8_t nvm_par_p3;
+ int8_t nvm_par_p4;
+ int16_t nvm_par_p5;
+ int16_t nvm_par_p6;
+ int8_t nvm_par_p7;
+ int8_t nvm_par_p8;
+ int16_t nvm_par_p9;
+ int8_t nvm_par_p10;
+ int8_t nvm_par_p11;
+ } calib_p;
+
+ struct PACKED {
+ uint16_t nvm_par_t1; // at 0x31
+ uint16_t nvm_par_t2;
+ int8_t nvm_par_t3;
+ } calib_t;
+
+ // scaled calibration data
+ struct {
+ float par_t1;
+ float par_t2;
+ float par_t3;
+ float par_p1;
+ float par_p2;
+ float par_p3;
+ float par_p4;
+ float par_p5;
+ float par_p6;
+ float par_p7;
+ float par_p8;
+ float par_p9;
+ float par_p10;
+ float par_p11;
+ float t_lin;
+ } calib;
+
+ void scale_calibration_data(void);
+};