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 #include "flight/position.h"
  26
  27 typedef enum {
  28     BARO_DEFAULT = 0,
  29     BARO_NONE = 1,
  30     BARO_BMP085 = 2,
  31     BARO_MS5611 = 3,
  32     BARO_BMP280 = 4,
  33     BARO_LPS = 5,
  34     BARO_QMP6988 = 6,
  35     BARO_BMP388 = 7,
  36     BARO_DPS310 = 8,
  37 } baroSensor_e;
  38
  39 typedef struct barometerConfig_s {
  40     uint8_t baro_busType;
  41     uint8_t baro_spi_device;
  42     ioTag_t baro_spi_csn;                   // Also used as XCLR (positive logic) for BMP085
  43     uint8_t baro_i2c_device;
  44     uint8_t baro_i2c_address;
  45     uint8_t baro_hardware;                  // Barometer hardware to use
  46     ioTag_t baro_eoc_tag;
  47     ioTag_t baro_xclr_tag;
  48 } barometerConfig_t;
  49
  50 PG_DECLARE(barometerConfig_t, barometerConfig);
  51
  52 // #define TASK_BARO_DENOM       3
  53 // #define TASK_BARO_RATE_HZ     (TASK_ALTITUDE_RATE_HZ / TASK_BARO_DENOM)
  54 #define TASK_BARO_RATE_HZ        40
  55
  56 typedef struct baro_s {
  57     baroDev_t dev;
  58     float 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 void baroInit(void);
  67 bool baroIsCalibrated(void);
  68 void baroStartCalibration(void);
  69 void baroSetGroundLevel(void);
  70 uint32_t baroUpdate(timeUs_t currentTimeUs);
  71 bool isBaroReady(void);
  72 bool isBaroSampleReady(void);
  73 float getBaroAltitude(void);
  74 void performBaroCalibrationCycle(void);