ardupilot/libraries/AP_Baro/AP_Baro_ICM20789.h

67 lines
1.8 KiB
C++

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