src/main/sensors/barometer.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "pg/pg.h"
  24 #include "drivers/barometer/barometer.h"
  25
  26 typedef enum {
  27     BARO_DEFAULT = 0,
  28     BARO_NONE = 1,
  29     BARO_BMP085 = 2,
  30     BARO_MS5611 = 3,
  31     BARO_BMP280 = 4,
  32     BARO_LPS = 5,
  33     BARO_QMP6988 = 6,
  34     BARO_BMP388 = 7,
  35     BARO_DPS310 = 8,
  36 } baroSensor_e;
  37
  38 #define BARO_SAMPLE_COUNT_MAX   48
  39
  40 typedef struct barometerConfig_s {
  41     uint8_t baro_busType;
  42     uint8_t baro_spi_device;
  43     ioTag_t baro_spi_csn;                   // Also used as XCLR (positive logic) for BMP085
  44     uint8_t baro_i2c_device;
  45     uint8_t baro_i2c_address;
  46     uint8_t baro_hardware;                  // Barometer hardware to use
  47     uint8_t baro_sample_count;              // size of baro filter array
  48     uint16_t baro_noise_lpf;                // additional LPF to reduce baro noise
  49     uint16_t baro_cf_vel;                   // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)
  50     ioTag_t baro_eoc_tag;
  51     ioTag_t baro_xclr_tag;
  52 } barometerConfig_t;
  53
  54 PG_DECLARE(barometerConfig_t, barometerConfig);
  55
  56 typedef struct baro_s {
  57     baroDev_t dev;
  58     int32_t BaroAlt;
  59     int32_t baroTemperature;             // Use temperature for telemetry
  60     int32_t baroPressure;                // Use pressure for telemetry
  61 } baro_t;
  62
  63 extern baro_t baro;
  64
  65 void baroPreInit(void);
  66 bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse);
  67 bool baroIsCalibrationComplete(void);
  68 void baroStartCalibration(void);
  69 void baroSetGroundLevel(void);
  70 uint32_t baroUpdate(void);
  71 bool isBaroReady(void);
  72 int32_t baroCalculateAltitude(void);
  73 void performBaroCalibrationCycle(void);