ardupilot/libraries/AP_Baro/AP_Baro_FBM320.h

#pragma once

#include "AP_Baro_Backend.h"

#ifndef AP_BARO_FBM320_ENABLED
#define AP_BARO_FBM320_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
#endif

#if AP_BARO_FBM320_ENABLED

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Device.h>
#include <AP_HAL/utility/OwnPtr.h>

#ifndef HAL_BARO_FBM320_I2C_ADDR
 #define HAL_BARO_FBM320_I2C_ADDR  0x6C
#endif
#ifndef HAL_BARO_FBM320_I2C_ADDR2
 #define HAL_BARO_FBM320_I2C_ADDR2 0x6D
#endif


class AP_Baro_FBM320 : public AP_Baro_Backend {
public:
    AP_Baro_FBM320(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);

    /* AP_Baro public interface: */
    void update() override;

    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);

private:
    bool init(void);
    bool read_calibration(void);
    void timer(void);
    void calculate_PT(int32_t UT, int32_t UP, int32_t &pressure, int32_t &temperature);

    AP_HAL::OwnPtr<AP_HAL::Device> dev;

    uint8_t instance;

    uint32_t count;
    float pressure_sum;
    float temperature_sum;
    uint8_t step;

    int32_t value_T;

    // Internal calibration registers
    struct fbm320_calibration {
        uint16_t C0, C1, C2, C3, C6, C8, C9, C10, C11, C12;
        uint32_t C4, C5, C7;
    } calibration;
};

#endif  // AP_BARO_FBM320_ENABLED