mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.8 KiB
C++
67 lines
1.8 KiB
C++
#pragma once
|
|
|
|
#include "AP_Baro_Backend.h"
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/Semaphores.h>
|
|
#include <AP_HAL/Device.h>
|
|
|
|
#ifndef HAL_BARO_ICM20789_I2C_ADDR
|
|
// the baro is on a separate I2C address from the IMU, even though in
|
|
// the same package
|
|
#define HAL_BARO_ICM20789_I2C_ADDR 0x63
|
|
#endif
|
|
|
|
class AP_Baro_ICM20789 : public AP_Baro_Backend
|
|
{
|
|
public:
|
|
void update() override;
|
|
|
|
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, AP_HAL::OwnPtr<AP_HAL::Device> dev_imu);
|
|
|
|
private:
|
|
AP_Baro_ICM20789(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, AP_HAL::OwnPtr<AP_HAL::Device> dev_imu);
|
|
|
|
bool init();
|
|
bool send_cmd16(uint16_t cmd);
|
|
|
|
bool read_calibration_data(void);
|
|
|
|
void convert_data(uint32_t Praw, uint32_t Traw);
|
|
|
|
void calculate_conversion_constants(const float p_Pa[3], const float p_LUT[3],
|
|
float &A, float &B, float &C);
|
|
float get_pressure(uint32_t p_LSB, uint32_t T_LSB);
|
|
|
|
bool imu_spi_init(void);
|
|
bool imu_i2c_init(void);
|
|
|
|
void timer(void);
|
|
|
|
// calibration data
|
|
int16_t sensor_constants[4];
|
|
|
|
uint8_t instance;
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev_imu;
|
|
|
|
// time last read command was sent
|
|
uint32_t last_measure_us;
|
|
|
|
// accumulation structure, protected by _sem
|
|
struct {
|
|
float tsum;
|
|
float psum;
|
|
uint32_t count;
|
|
} accum;
|
|
|
|
// conversion constants. Thanks to invensense for including python
|
|
// sample code in the datasheet!
|
|
const float p_Pa_calib[3] = {45000.0, 80000.0, 105000.0};
|
|
const float LUT_lower = 3.5 * (1U<<20);
|
|
const float LUT_upper = 11.5 * (1U<<20);
|
|
const float quadr_factor = 1 / 16777216.0;
|
|
const float offst_factor = 2048.0;
|
|
};
|