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90 lines
2.0 KiB
90 lines
2.0 KiB
#pragma once |
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#include "AP_Baro_Backend.h" |
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#ifndef AP_BARO_BMP388_ENABLED |
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#define AP_BARO_BMP388_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_BARO_BMP388_ENABLED |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL/Device.h> |
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#include <AP_HAL/utility/OwnPtr.h> |
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#ifndef HAL_BARO_BMP388_I2C_ADDR |
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#define HAL_BARO_BMP388_I2C_ADDR (0x76) |
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#endif |
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#ifndef HAL_BARO_BMP388_I2C_ADDR2 |
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#define HAL_BARO_BMP388_I2C_ADDR2 (0x77) |
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#endif |
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class AP_Baro_BMP388 : public AP_Baro_Backend |
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{ |
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public: |
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AP_Baro_BMP388(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> _dev); |
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/* AP_Baro public interface: */ |
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void update() override; |
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> _dev); |
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private: |
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bool init(void); |
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void timer(void); |
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void update_temperature(uint32_t); |
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void update_pressure(uint32_t); |
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AP_HAL::OwnPtr<AP_HAL::Device> dev; |
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uint8_t instance; |
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float pressure_sum; |
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uint32_t pressure_count; |
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float temperature; |
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// Internal calibration registers |
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struct PACKED { |
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int16_t nvm_par_p1; // at 0x36 |
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int16_t nvm_par_p2; |
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int8_t nvm_par_p3; |
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int8_t nvm_par_p4; |
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int16_t nvm_par_p5; |
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int16_t nvm_par_p6; |
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int8_t nvm_par_p7; |
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int8_t nvm_par_p8; |
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int16_t nvm_par_p9; |
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int8_t nvm_par_p10; |
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int8_t nvm_par_p11; |
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} calib_p; |
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struct PACKED { |
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uint16_t nvm_par_t1; // at 0x31 |
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uint16_t nvm_par_t2; |
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int8_t nvm_par_t3; |
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} calib_t; |
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// scaled calibration data |
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struct { |
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float par_t1; |
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float par_t2; |
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float par_t3; |
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float par_p1; |
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float par_p2; |
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float par_p3; |
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float par_p4; |
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float par_p5; |
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float par_p6; |
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float par_p7; |
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float par_p8; |
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float par_p9; |
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float par_p10; |
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float par_p11; |
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float t_lin; |
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} calib; |
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void scale_calibration_data(void); |
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bool read_registers(uint8_t reg, uint8_t *data, uint8_t len); |
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}; |
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#endif // AP_BARO_BMP388_ENABLED
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