ardupilot/libraries/AP_Baro/AP_Baro_BMP388.h

83 lines
1.8 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Device.h>
#include <AP_HAL/utility/OwnPtr.h>
#include "AP_Baro_Backend.h"
#ifndef HAL_BARO_BMP388_I2C_ADDR
#define HAL_BARO_BMP388_I2C_ADDR (0x76)
#endif
#ifndef HAL_BARO_BMP388_I2C_ADDR2
#define HAL_BARO_BMP388_I2C_ADDR2 (0x77)
#endif
class AP_Baro_BMP388 : public AP_Baro_Backend
{
public:
AP_Baro_BMP388(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);
void timer(void);
void update_temperature(uint32_t);
void update_pressure(uint32_t);
AP_HAL::OwnPtr<AP_HAL::Device> dev;
uint8_t instance;
float pressure_sum;
uint32_t pressure_count;
float temperature;
// Internal calibration registers
struct PACKED {
int16_t nvm_par_p1; // at 0x36
int16_t nvm_par_p2;
int8_t nvm_par_p3;
int8_t nvm_par_p4;
int16_t nvm_par_p5;
int16_t nvm_par_p6;
int8_t nvm_par_p7;
int8_t nvm_par_p8;
int16_t nvm_par_p9;
int8_t nvm_par_p10;
int8_t nvm_par_p11;
} calib_p;
struct PACKED {
uint16_t nvm_par_t1; // at 0x31
uint16_t nvm_par_t2;
int8_t nvm_par_t3;
} calib_t;
// scaled calibration data
struct {
float par_t1;
float par_t2;
float par_t3;
float par_p1;
float par_p2;
float par_p3;
float par_p4;
float par_p5;
float par_p6;
float par_p7;
float par_p8;
float par_p9;
float par_p10;
float par_p11;
float t_lin;
} calib;
void scale_calibration_data(void);
bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);
};