mirror of https://github.com/ArduPilot/ardupilot
77 lines
1.9 KiB
C++
77 lines
1.9 KiB
C++
#pragma once
|
|
|
|
#include "AP_Baro_Backend.h"
|
|
|
|
#if AP_BARO_DPS280_ENABLED
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/Device.h>
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
|
|
#ifndef HAL_BARO_DPS280_I2C_ADDR
|
|
#define HAL_BARO_DPS280_I2C_ADDR 0x76
|
|
#endif
|
|
#ifndef HAL_BARO_DPS280_I2C_ADDR2
|
|
#define HAL_BARO_DPS280_I2C_ADDR2 0x77
|
|
#endif
|
|
|
|
class AP_Baro_DPS280 : public AP_Baro_Backend {
|
|
public:
|
|
AP_Baro_DPS280(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
|
|
|
|
/* AP_Baro public interface: */
|
|
void update() override;
|
|
|
|
static AP_Baro_Backend *probe_280(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {
|
|
return probe(baro, std::move(dev), false);
|
|
}
|
|
|
|
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool _is_dps310=false);
|
|
|
|
protected:
|
|
bool init(void);
|
|
bool read_calibration(void);
|
|
void timer(void);
|
|
void calculate_PT(int32_t UT, int32_t UP, float &pressure, float &temperature);
|
|
|
|
void fix_config_bits16(int16_t &v, uint8_t bits) const;
|
|
void fix_config_bits32(int32_t &v, uint8_t bits) const;
|
|
void set_config_registers(void);
|
|
void check_health();
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev;
|
|
|
|
uint8_t instance;
|
|
|
|
uint32_t count;
|
|
uint8_t err_count;
|
|
float pressure_sum;
|
|
float temperature_sum;
|
|
float last_temperature;
|
|
bool pending_reset;
|
|
bool is_dps310;
|
|
|
|
struct dps280_cal {
|
|
int16_t C0; // 12bit
|
|
int16_t C1; // 12bit
|
|
int32_t C00; // 20bit
|
|
int32_t C10; // 20bit
|
|
int16_t C01; // 16bit
|
|
int16_t C11; // 16bit
|
|
int16_t C20; // 16bit
|
|
int16_t C21; // 16bit
|
|
int16_t C30; // 16bit
|
|
uint8_t temp_source;
|
|
} calibration;
|
|
};
|
|
|
|
class AP_Baro_DPS310 : public AP_Baro_DPS280 {
|
|
// like DPS280 but workaround for temperature bug
|
|
public:
|
|
using AP_Baro_DPS280::AP_Baro_DPS280;
|
|
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
|
|
};
|
|
|
|
|
|
#endif // AP_BARO_DPS280_ENABLED
|