mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.7 KiB
C++
70 lines
1.7 KiB
C++
#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_DPS280_I2C_ADDR
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#define HAL_BARO_DPS280_I2C_ADDR 0x76
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#endif
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#ifndef HAL_BARO_DPS280_I2C_ADDR2
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#define HAL_BARO_DPS280_I2C_ADDR2 0x77
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#endif
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class AP_Baro_DPS280 : public AP_Baro_Backend {
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public:
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AP_Baro_DPS280(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, bool _is_dps310=false);
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protected:
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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, float &pressure, float &temperature);
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void fix_config_bits16(int16_t &v, uint8_t bits) const;
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void fix_config_bits32(int32_t &v, uint8_t bits) const;
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void set_config_registers(void);
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void check_health();
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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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uint8_t err_count;
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float pressure_sum;
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float temperature_sum;
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float last_temperature;
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bool pending_reset;
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bool is_dps310;
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struct dps280_cal {
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int16_t C0; // 12bit
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int16_t C1; // 12bit
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int32_t C00; // 20bit
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int32_t C10; // 20bit
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int16_t C01; // 16bit
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int16_t C11; // 16bit
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int16_t C20; // 16bit
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int16_t C21; // 16bit
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int16_t C30; // 16bit
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uint8_t temp_source;
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} calibration;
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};
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class AP_Baro_DPS310 : public AP_Baro_DPS280 {
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// like DPS280 but workaround for temperature bug
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public:
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using AP_Baro_DPS280::AP_Baro_DPS280;
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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};
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