mirror of https://github.com/ArduPilot/ardupilot
83 lines
1.8 KiB
C++
83 lines
1.8 KiB
C++
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/Device.h>
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
|
|
#include "AP_Baro_Backend.h"
|
|
|
|
#ifndef HAL_BARO_BMP388_I2C_ADDR
|
|
#define HAL_BARO_BMP388_I2C_ADDR (0x76)
|
|
#endif
|
|
#ifndef HAL_BARO_BMP388_I2C_ADDR2
|
|
#define HAL_BARO_BMP388_I2C_ADDR2 (0x77)
|
|
#endif
|
|
|
|
class AP_Baro_BMP388 : public AP_Baro_Backend
|
|
{
|
|
public:
|
|
AP_Baro_BMP388(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> _dev);
|
|
|
|
/* AP_Baro public interface: */
|
|
void update() override;
|
|
|
|
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> _dev);
|
|
|
|
private:
|
|
|
|
bool init(void);
|
|
void timer(void);
|
|
void update_temperature(uint32_t);
|
|
void update_pressure(uint32_t);
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev;
|
|
|
|
uint8_t instance;
|
|
float pressure_sum;
|
|
uint32_t pressure_count;
|
|
float temperature;
|
|
|
|
// Internal calibration registers
|
|
struct PACKED {
|
|
int16_t nvm_par_p1; // at 0x36
|
|
int16_t nvm_par_p2;
|
|
int8_t nvm_par_p3;
|
|
int8_t nvm_par_p4;
|
|
int16_t nvm_par_p5;
|
|
int16_t nvm_par_p6;
|
|
int8_t nvm_par_p7;
|
|
int8_t nvm_par_p8;
|
|
int16_t nvm_par_p9;
|
|
int8_t nvm_par_p10;
|
|
int8_t nvm_par_p11;
|
|
} calib_p;
|
|
|
|
struct PACKED {
|
|
uint16_t nvm_par_t1; // at 0x31
|
|
uint16_t nvm_par_t2;
|
|
int8_t nvm_par_t3;
|
|
} calib_t;
|
|
|
|
// scaled calibration data
|
|
struct {
|
|
float par_t1;
|
|
float par_t2;
|
|
float par_t3;
|
|
float par_p1;
|
|
float par_p2;
|
|
float par_p3;
|
|
float par_p4;
|
|
float par_p5;
|
|
float par_p6;
|
|
float par_p7;
|
|
float par_p8;
|
|
float par_p9;
|
|
float par_p10;
|
|
float par_p11;
|
|
float t_lin;
|
|
} calib;
|
|
|
|
void scale_calibration_data(void);
|
|
bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);
|
|
};
|