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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_FBM320.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_FBM320_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_FBM320_I2C_ADDR

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 #define HAL_BARO_FBM320_I2C_ADDR  0x6C

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#endif

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#ifndef HAL_BARO_FBM320_I2C_ADDR2

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 #define HAL_BARO_FBM320_I2C_ADDR2 0x6D

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#endif

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class AP_Baro_FBM320 : public AP_Baro_Backend {

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public:

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    AP_Baro_FBM320(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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    bool read_calibration(void);

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    void timer(void);

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

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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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    float pressure_sum;

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    float temperature_sum;

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    uint8_t step;

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    int32_t value_T;

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    // Internal calibration registers

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    struct fbm320_calibration {

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        uint16_t C0, C1, C2, C3, C6, C8, C9, C10, C11, C12;

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        uint32_t C4, C5, C7;

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    } calibration;

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};

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#endif  // AP_BARO_FBM320_ENABLED

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