From ca54c9f5e832b9d822f8df6bf2f87af5bce2fd60 Mon Sep 17 00:00:00 2001
From: alexklimaj <alex@arkelectron.com>
Date: Mon, 3 Oct 2022 16:02:00 -0600
Subject: [PATCH] AP_Baro: BMP390

---
 Tools/scripts/decode_devid.py        |  1 +
 libraries/AP_Baro/AP_Baro_BMP388.cpp | 18 ++++++++++++++----
 libraries/AP_Baro/AP_Baro_Backend.h  |  1 +
 3 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/Tools/scripts/decode_devid.py b/Tools/scripts/decode_devid.py
index c5da7a0f01..15b574306b 100755
--- a/Tools/scripts/decode_devid.py
+++ b/Tools/scripts/decode_devid.py
@@ -121,6 +121,7 @@ baro_types = {
     0x11 : "DEVTYPE_BARO_MS5607",
     0x12 : "DEVTYPE_BARO_MS5837",
     0x13 : "DEVTYPE_BARO_MS5637",
+    0x14 : "DEVTYPE_BARO_BMP390",
 }
 
 airspeed_types = {
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.cpp b/libraries/AP_Baro/AP_Baro_BMP388.cpp
index 6b8b102d6a..e069a293d4 100644
--- a/libraries/AP_Baro/AP_Baro_BMP388.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP388.cpp
@@ -26,8 +26,10 @@ extern const AP_HAL::HAL &hal;
 #define BMP388_MODE BMP388_MODE_NORMAL
 
 #define BMP388_ID            0x50
+#define BMP390_ID            0x60
 
 #define BMP388_REG_ID        0x00
+#define BMP388_REV_ID_ADDR   0x01
 #define BMP388_REG_ERR       0x02
 #define BMP388_REG_STATUS    0x03
 #define BMP388_REG_PRESS     0x04 // 24 bit
@@ -89,9 +91,18 @@ bool AP_Baro_BMP388::init()
     dev->write_register(BMP388_REG_PWR_CTRL, 0x33, true);
     
     uint8_t whoami;
-    if (!read_registers(BMP388_REG_ID, &whoami, 1)  ||
-        whoami != BMP388_ID) {
-        // not a BMP388
+    if (!read_registers(BMP388_REG_ID, &whoami, 1)) {
+        return false;
+    }
+
+    switch (whoami) {
+    case BMP388_ID:
+        dev->set_device_type(DEVTYPE_BARO_BMP388);
+        break;
+    case BMP390_ID:
+        dev->set_device_type(DEVTYPE_BARO_BMP390);
+        break;
+    default:
         return false;
     }
 
@@ -108,7 +119,6 @@ bool AP_Baro_BMP388::init()
 
     instance = _frontend.register_sensor();
 
-    dev->set_device_type(DEVTYPE_BARO_BMP388);
     set_bus_id(instance, dev->get_bus_id());
 
     // request 50Hz update
diff --git a/libraries/AP_Baro/AP_Baro_Backend.h b/libraries/AP_Baro/AP_Baro_Backend.h
index 914995529c..045fffcca3 100644
--- a/libraries/AP_Baro/AP_Baro_Backend.h
+++ b/libraries/AP_Baro/AP_Baro_Backend.h
@@ -61,6 +61,7 @@ public:
         DEVTYPE_BARO_MS5607   = 0x11,
         DEVTYPE_BARO_MS5837   = 0x12,
         DEVTYPE_BARO_MS5637   = 0x13,
+        DEVTYPE_BARO_BMP390   = 0x14,
     };
     
 protected: