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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_DPS280.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_DPS280_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_DPS280_I2C_ADDR

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 #define HAL_BARO_DPS280_I2C_ADDR  0x76

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#endif

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#ifndef HAL_BARO_DPS280_I2C_ADDR2

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 #define HAL_BARO_DPS280_I2C_ADDR2 0x77

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#endif

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class AP_Baro_DPS280 : public AP_Baro_Backend {

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public:

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    AP_Baro_DPS280(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_280(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {

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        return probe(baro, std::move(dev), false);

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    }

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool _is_dps310=false);

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protected:

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    bool init(bool _is_dps310);

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    bool read_calibration(void);

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    void timer(void);

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    void calculate_PT(int32_t UT, int32_t UP, float &pressure, float &temperature);

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    void fix_config_bits16(int16_t &v, uint8_t bits) const;

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    void fix_config_bits32(int32_t &v, uint8_t bits) const;

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    void set_config_registers(void);

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    void check_health();

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

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    uint8_t instance;

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    uint32_t count;

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    uint8_t err_count;

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    float pressure_sum;

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    float temperature_sum;

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    float last_temperature;

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    bool pending_reset;

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    bool is_dps310;

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    struct dps280_cal {

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        int16_t C0;  // 12bit

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        int16_t C1;  // 12bit

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        int32_t C00; // 20bit

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        int32_t C10; // 20bit

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        int16_t C01; // 16bit

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        int16_t C11; // 16bit

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        int16_t C20; // 16bit

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        int16_t C21; // 16bit

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        int16_t C30; // 16bit

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        uint8_t temp_source;

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    } calibration;

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};

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class AP_Baro_DPS310 : public AP_Baro_DPS280 {

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    // like DPS280 but workaround for temperature bug

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public:

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    using AP_Baro_DPS280::AP_Baro_DPS280;

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);

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};

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#endif  // AP_BARO_DPS280_ENABLED

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