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