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59 lines
1.5 KiB
59 lines
1.5 KiB
#pragma once |
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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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#include "AP_Baro_Backend.h" |
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#ifndef HAL_BARO_DPS280_I2C_ADDR |
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#define HAL_BARO_DPS280_I2C_ADDR 0x76 |
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#endif |
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#ifndef HAL_BARO_DPS280_I2C_ADDR2 |
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#define HAL_BARO_DPS280_I2C_ADDR2 0x77 |
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#endif |
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class AP_Baro_DPS280 : public AP_Baro_Backend { |
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public: |
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AP_Baro_DPS280(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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bool read_calibration(void); |
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void timer(void); |
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void calculate_PT(int32_t UT, int32_t UP, float &pressure, float &temperature); |
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void fix_config_bits16(int16_t &v, uint8_t bits) const; |
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void fix_config_bits32(int32_t &v, uint8_t bits) const; |
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void set_config_registers(void); |
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void check_health(); |
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AP_HAL::OwnPtr<AP_HAL::Device> dev; |
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uint8_t instance; |
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uint32_t count; |
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uint8_t err_count; |
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float pressure_sum; |
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float temperature_sum; |
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float last_temperature; |
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bool pending_reset; |
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struct dps280_cal { |
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int16_t C0; // 12bit |
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int16_t C1; // 12bit |
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int32_t C00; // 20bit |
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int32_t C10; // 20bit |
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int16_t C01; // 16bit |
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int16_t C11; // 16bit |
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int16_t C20; // 16bit |
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int16_t C21; // 16bit |
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int16_t C30; // 16bit |
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uint8_t temp_source; |
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} calibration; |
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};
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