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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_BMP388.h
Views: 1798
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#pragma once

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#include "AP_Baro_Backend.h"

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#if AP_BARO_BMP388_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_BMP388_I2C_ADDR

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 #define HAL_BARO_BMP388_I2C_ADDR  (0x76)

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#endif

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#ifndef HAL_BARO_BMP388_I2C_ADDR2

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 #define HAL_BARO_BMP388_I2C_ADDR2 (0x77)

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#endif

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class AP_Baro_BMP388 : public AP_Baro_Backend

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{

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public:

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    AP_Baro_BMP388(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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    void timer(void);

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    void update_temperature(uint32_t);

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    void update_pressure(uint32_t);

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    AP_HAL::OwnPtr<AP_HAL::Device> dev;

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    uint8_t instance;

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    float pressure_sum;

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    uint32_t pressure_count;

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    float temperature;

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    // Internal calibration registers

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    struct PACKED {

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        int16_t nvm_par_p1; // at 0x36

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        int16_t nvm_par_p2;

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        int8_t nvm_par_p3;

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        int8_t nvm_par_p4;

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        int16_t nvm_par_p5;

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        int16_t nvm_par_p6;

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        int8_t nvm_par_p7;

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        int8_t nvm_par_p8;

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        int16_t nvm_par_p9;

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        int8_t nvm_par_p10;

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        int8_t nvm_par_p11;

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    } calib_p;

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    struct PACKED {

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        uint16_t nvm_par_t1; // at 0x31

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        uint16_t nvm_par_t2;

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        int8_t nvm_par_t3;

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    } calib_t;

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    // scaled calibration data

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    struct {

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        float par_t1;

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        float par_t2;

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        float par_t3;

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        float par_p1;

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        float par_p2;

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        float par_p3;

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        float par_p4;

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        float par_p5;

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        float par_p6;

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        float par_p7;

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        float par_p8;

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        float par_p9;

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        float par_p10;

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        float par_p11;

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        float t_lin;

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    } calib;

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    void scale_calibration_data(void);

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    bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);

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};

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#endif  // AP_BARO_BMP388_ENABLED

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