#include <AP_Baro_ICM20789.h>

Inheritance diagram for AP_Baro_ICM20789:

Collaboration diagram for AP_Baro_ICM20789:

Public Member Functions
void	update ()

Public Member Functions inherited from AP_Baro_Backend
	AP_Baro_Backend (AP_Baro &baro)

virtual	~AP_Baro_Backend (void)

virtual void	accumulate (void)

virtual void	handle_baro_msg (float pressure, float temperature)

void	backend_update (uint8_t instance)

bool	pressure_ok (float press)

uint32_t	get_error_count () const

Static Public Member Functions
static AP_Baro_Backend *	probe (AP_Baro &baro, AP_HAL::OwnPtr< AP_HAL::I2CDevice > dev, AP_HAL::OwnPtr< AP_HAL::Device > dev_imu)

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

bool	init ()

bool	send_cmd16 (uint16_t cmd)

bool	read_calibration_data (void)

void	convert_data (uint32_t Praw, uint32_t Traw)

void	calculate_conversion_constants (const float p_Pa[3], const float p_LUT[3], float &A, float &B, float &C)

float	get_pressure (uint32_t p_LSB, uint32_t T_LSB)

bool	imu_spi_init (void)

bool	imu_i2c_init (void)

void	timer (void)

Private Attributes
int16_t	sensor_constants [4]

uint8_t	instance

AP_HAL::OwnPtr< AP_HAL::I2CDevice >	dev

AP_HAL::OwnPtr< AP_HAL::Device >	dev_imu

uint32_t	last_measure_us

struct {
float tsum

float psum

uint32_t count

}	accum

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

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

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

const float	quadr_factor = 1 / 16777216.0

const float	offst_factor = 2048.0

Additional Inherited Members
Protected Member Functions inherited from AP_Baro_Backend
void	_copy_to_frontend (uint8_t instance, float pressure, float temperature)

virtual void	update_healthy_flag (uint8_t instance)

Protected Attributes inherited from AP_Baro_Backend
AP_Baro &	_frontend

AP_HAL::Semaphore *	_sem

float	_mean_pressure

uint32_t	_error_count

Detailed Description

Definition at line 15 of file AP_Baro_ICM20789.h.

Constructor & Destructor Documentation

◆ AP_Baro_ICM20789()

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

private

Definition at line 68 of file AP_Baro_ICM20789.cpp.

Referenced by probe().

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Member Function Documentation

◆ calculate_conversion_constants()

void AP_Baro_ICM20789::calculate_conversion_constants	(	const float	p_Pa[3],
		const float	p_LUT[3],
		float &	A,
		float &	B,
		float &	C
	)

private

Definition at line 257 of file AP_Baro_ICM20789.cpp.

Referenced by get_pressure().

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◆ convert_data()

void AP_Baro_ICM20789::convert_data	(	uint32_t	Praw,
		uint32_t	Traw
	)

private

Definition at line 296 of file AP_Baro_ICM20789.cpp.

Referenced by timer().

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◆ get_pressure()

float AP_Baro_ICM20789::get_pressure	(	uint32_t	p_LSB,
		uint32_t	T_LSB
	)

private

Definition at line 276 of file AP_Baro_ICM20789.cpp.

Referenced by convert_data().

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◆ imu_i2c_init()

bool AP_Baro_ICM20789::imu_i2c_init ( void )

private

Definition at line 141 of file AP_Baro_ICM20789.cpp.

Referenced by init().

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◆ imu_spi_init()

bool AP_Baro_ICM20789::imu_spi_init ( void )

private

Definition at line 95 of file AP_Baro_ICM20789.cpp.

Referenced by init().

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◆ init()

bool AP_Baro_ICM20789::init ( void )

private

Definition at line 167 of file AP_Baro_ICM20789.cpp.

Referenced by probe().

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◆ probe()

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

static

Definition at line 75 of file AP_Baro_ICM20789.cpp.

Referenced by AP_Baro::init().

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◆ read_calibration_data()

bool AP_Baro_ICM20789::read_calibration_data ( void )

private

Definition at line 233 of file AP_Baro_ICM20789.cpp.

Referenced by init().

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◆ send_cmd16()

bool AP_Baro_ICM20789::send_cmd16 ( uint16_t cmd )

private

Definition at line 227 of file AP_Baro_ICM20789.cpp.

Referenced by init(), read_calibration_data(), and timer().

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◆ timer()

void AP_Baro_ICM20789::timer ( void )

private

Definition at line 323 of file AP_Baro_ICM20789.cpp.

Referenced by init().

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◆ update()

void AP_Baro_ICM20789::update ( void )

virtual

Implements AP_Baro_Backend.

Definition at line 343 of file AP_Baro_ICM20789.cpp.

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Member Data Documentation

◆ accum

struct { ... } AP_Baro_ICM20789::accum

Referenced by convert_data(), and update().

◆ count

uint32_t AP_Baro_ICM20789::count

Definition at line 56 of file AP_Baro_ICM20789.h.

◆ dev

AP_HAL::OwnPtr<AP_HAL::I2CDevice> AP_Baro_ICM20789::dev

private

Definition at line 46 of file AP_Baro_ICM20789.h.

Referenced by imu_i2c_init(), init(), read_calibration_data(), send_cmd16(), and timer().

◆ dev_imu

AP_HAL::OwnPtr<AP_HAL::Device> AP_Baro_ICM20789::dev_imu

private

Definition at line 47 of file AP_Baro_ICM20789.h.

Referenced by imu_i2c_init(), imu_spi_init(), and init().

◆ instance

uint8_t AP_Baro_ICM20789::instance

private

Definition at line 44 of file AP_Baro_ICM20789.h.

Referenced by init(), and update().

◆ last_measure_us

uint32_t AP_Baro_ICM20789::last_measure_us

private

Definition at line 50 of file AP_Baro_ICM20789.h.

Referenced by timer().

◆ LUT_lower

const float AP_Baro_ICM20789::LUT_lower = 3.5 * (1U<<20)

private

Definition at line 62 of file AP_Baro_ICM20789.h.

Referenced by get_pressure().

◆ LUT_upper

const float AP_Baro_ICM20789::LUT_upper = 11.5 * (1U<<20)

private

Definition at line 63 of file AP_Baro_ICM20789.h.

Referenced by get_pressure().

◆ offst_factor

const float AP_Baro_ICM20789::offst_factor = 2048.0

private

Definition at line 65 of file AP_Baro_ICM20789.h.

Referenced by get_pressure().

◆ p_Pa_calib

const float AP_Baro_ICM20789::p_Pa_calib[3] = {45000.0, 80000.0, 105000.0}

private

Definition at line 61 of file AP_Baro_ICM20789.h.

Referenced by get_pressure().

◆ psum

float AP_Baro_ICM20789::psum

Definition at line 55 of file AP_Baro_ICM20789.h.

◆ quadr_factor

const float AP_Baro_ICM20789::quadr_factor = 1 / 16777216.0

private

Definition at line 64 of file AP_Baro_ICM20789.h.

Referenced by get_pressure().

◆ sensor_constants

int16_t AP_Baro_ICM20789::sensor_constants[4]

private

Definition at line 42 of file AP_Baro_ICM20789.h.

Referenced by get_pressure(), and read_calibration_data().

◆ tsum

float AP_Baro_ICM20789::tsum

Definition at line 54 of file AP_Baro_ICM20789.h.

The documentation for this class was generated from the following files:

libraries/AP_Baro/AP_Baro_ICM20789.h
libraries/AP_Baro/AP_Baro_ICM20789.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_Baro_ICM20789()

Member Function Documentation

◆ calculate_conversion_constants()

◆ convert_data()

◆ get_pressure()

◆ imu_i2c_init()

◆ imu_spi_init()

◆ init()

◆ probe()

◆ read_calibration_data()

◆ send_cmd16()

◆ timer()

◆ update()

Member Data Documentation

◆ accum

◆ count

◆ dev

◆ dev_imu

◆ instance

◆ last_measure_us

◆ LUT_lower

◆ LUT_upper

◆ offst_factor

◆ p_Pa_calib

◆ psum

◆ quadr_factor

◆ sensor_constants

◆ tsum