mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.1 KiB
C++
53 lines
1.1 KiB
C++
#pragma once
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#include "AP_Baro_Backend.h"
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#if AP_BARO_FBM320_ENABLED
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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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#ifndef HAL_BARO_FBM320_I2C_ADDR
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#define HAL_BARO_FBM320_I2C_ADDR 0x6C
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#endif
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#ifndef HAL_BARO_FBM320_I2C_ADDR2
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#define HAL_BARO_FBM320_I2C_ADDR2 0x6D
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#endif
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class AP_Baro_FBM320 : public AP_Baro_Backend {
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public:
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AP_Baro_FBM320(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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bool read_calibration(void);
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void timer(void);
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void calculate_PT(int32_t UT, int32_t UP, int32_t &pressure, int32_t &temperature);
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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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float pressure_sum;
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float temperature_sum;
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uint8_t step;
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int32_t value_T;
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// Internal calibration registers
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struct fbm320_calibration {
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uint16_t C0, C1, C2, C3, C6, C8, C9, C10, C11, C12;
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uint32_t C4, C5, C7;
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} calibration;
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};
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#endif // AP_BARO_FBM320_ENABLED
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