mirror of https://github.com/ArduPilot/ardupilot
82 lines
1.7 KiB
C++
82 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_BMP388_I2C_ADDR
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#define HAL_BARO_BMP388_I2C_ADDR (0x76)
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#endif
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#ifndef HAL_BARO_BMP388_I2C_ADDR2
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#define HAL_BARO_BMP388_I2C_ADDR2 (0x77)
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#endif
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class AP_Baro_BMP388 : public AP_Baro_Backend
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{
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public:
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AP_Baro_BMP388(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);
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private:
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bool init(void);
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void timer(void);
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void update_temperature(uint32_t);
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void update_pressure(uint32_t);
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AP_HAL::OwnPtr<AP_HAL::Device> dev;
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bool has_sample;
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uint8_t instance;
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float pressure;
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float temperature;
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// Internal calibration registers
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struct PACKED {
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int16_t nvm_par_p1; // at 0x36
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int16_t nvm_par_p2;
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int8_t nvm_par_p3;
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int8_t nvm_par_p4;
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int16_t nvm_par_p5;
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int16_t nvm_par_p6;
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int8_t nvm_par_p7;
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int8_t nvm_par_p8;
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int16_t nvm_par_p9;
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int8_t nvm_par_p10;
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int8_t nvm_par_p11;
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} calib_p;
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struct PACKED {
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uint16_t nvm_par_t1; // at 0x31
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uint16_t nvm_par_t2;
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int8_t nvm_par_t3;
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} calib_t;
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// scaled calibration data
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struct {
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float par_t1;
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float par_t2;
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float par_t3;
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float par_p1;
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float par_p2;
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float par_p3;
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float par_p4;
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float par_p5;
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float par_p6;
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float par_p7;
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float par_p8;
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float par_p9;
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float par_p10;
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float par_p11;
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float t_lin;
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} calib;
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void scale_calibration_data(void);
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};
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