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48 lines
1.1 KiB
48 lines
1.1 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_FBM320_I2C_ADDR |
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#define HAL_BARO_FBM320_I2C_ADDR 0x6C |
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#endif |
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#ifndef HAL_BARO_FBM320_I2C_ADDR2 |
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#define HAL_BARO_FBM320_I2C_ADDR2 0x6D |
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#endif |
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class AP_Baro_FBM320 : public AP_Baro_Backend { |
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public: |
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AP_Baro_FBM320(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, int32_t &pressure, int32_t &temperature); |
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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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float pressure_sum; |
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float temperature_sum; |
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uint8_t step; |
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int32_t value_T; |
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// Internal calibration registers |
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struct fbm320_calibration { |
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uint16_t C0, C1, C2, C3, C6, C8, C9, C10, C11, C12; |
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uint32_t C4, C5, C7; |
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} calibration; |
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};
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