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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_ICM20789.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_ICM20789_ENABLED

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#include <AP_HAL/AP_HAL.h>

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#include <AP_HAL/Semaphores.h>

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#include <AP_HAL/Device.h>

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#ifndef HAL_BARO_ICM20789_I2C_ADDR

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// the baro is on a separate I2C address from the IMU, even though in

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// the same package

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#define HAL_BARO_ICM20789_I2C_ADDR 0x63

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#endif

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class AP_Baro_ICM20789 : public AP_Baro_Backend

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{

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public:

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    void update() override;

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    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, AP_HAL::OwnPtr<AP_HAL::Device> dev_imu);

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private:

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    AP_Baro_ICM20789(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, AP_HAL::OwnPtr<AP_HAL::Device> dev_imu);

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    bool init();

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    bool send_cmd16(uint16_t cmd);

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    bool read_calibration_data(void);

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    void convert_data(uint32_t Praw, uint32_t Traw);

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    void calculate_conversion_constants(const float p_Pa[3], const float p_LUT[3],

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                                        float &A, float &B, float &C);

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    float get_pressure(uint32_t p_LSB, uint32_t T_LSB);

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    bool imu_spi_init(void);

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    bool imu_i2c_init(void);

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    void timer(void);

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    // calibration data

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    int16_t sensor_constants[4];

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    uint8_t instance;

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    AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;

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    AP_HAL::OwnPtr<AP_HAL::Device> dev_imu;

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    // time last read command was sent

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    uint32_t last_measure_us;

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    // accumulation structure, protected by _sem

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    struct {

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        float tsum;

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        float psum;

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        uint32_t count;

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    } accum;

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    // conversion constants. Thanks to invensense for including python

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    // sample code in the datasheet!

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    const float p_Pa_calib[3] = {45000.0, 80000.0, 105000.0};

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    const float LUT_lower = 3.5 * (1U<<20);

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    const float LUT_upper = 11.5 * (1U<<20);

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    const float quadr_factor = 1 / 16777216.0;

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    const float offst_factor = 2048.0;

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};

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#endif  // AP_BARO_ICM20789_ENABLED

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