N3_sub/libraries/AP_Baro/AP_Baro_MPM258.h

#pragma once

#include "AP_Baro_Backend.h"

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Semaphores.h>
#include <AP_HAL/Device.h>

#ifndef HAL_BARO_MPM258_I2C_ADDR
#define HAL_BARO_MPM258_I2C_ADDR 0x6D
#endif


class AP_Baro_MPM258 : public AP_Baro_Backend
{
public:
    void update() override;

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

private:
    /*
     * Update @accum and @count with the new sample in @val, taking into
     * account a maximum number of samples given by @max_count; in case
     * maximum number is reached, @accum and @count are updated appropriately
     */
	void _update_and_wrap_accumulator(int32_t pressure, int32_t temperature, uint8_t max_count);


    AP_Baro_MPM258(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);

    bool _init();



    bool _read();

    void _timer();

    AP_HAL::OwnPtr<AP_HAL::Device> _dev;

    /* Shared values between thread sampling the HW and main thread */
    struct {
        int32_t sum_pressure;
        int32_t sum_temperature;
        uint8_t num_samples;
    } _accum;


    uint8_t _state;
    uint8_t _instance;


    
};