From b3a9417d118844c9ce2c5b98e1438870d16c338c Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Fri, 21 May 2021 23:38:00 -0300
Subject: [PATCH 01/32] Add dps310 to F722 matek board

---
 src/main/drivers/barometer/barometer_dps310.c | 390 ++++++++++++++++++
 src/main/drivers/barometer/barometer_dps310.h |  29 ++
 src/main/sensors/barometer.c                  |   8 +-
 src/main/target/MAMBAF722/target.h            |   2 +
 4 files changed, 428 insertions(+), 1 deletion(-)
 create mode 100644 src/main/drivers/barometer/barometer_dps310.c
 create mode 100644 src/main/drivers/barometer/barometer_dps310.h

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
new file mode 100644
index 0000000000..5fee6f1b8f
--- /dev/null
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -0,0 +1,390 @@
+/*
+ * This file is part of Cleanflight, Betaflight and INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ *
+ * Copyright: INAVFLIGHT
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+#include "build/debug.h"
+#include "common/utils.h"
+
+#include "drivers/io.h"
+#include "drivers/bus.h"
+#include "drivers/bus_spi.h"
+#include "drivers/time.h"
+#include "drivers/barometer/barometer.h"
+#include "drivers/barometer/barometer_dps310.h"
+#include "drivers/resource.h"
+
+// 10 MHz max SPI frequency
+#define DPS310_MAX_SPI_CLK_HZ 10000000
+
+#if defined(USE_BARO) && defined(USE_BARO_DPS310)
+
+#define DPS310_I2C_ADDR             0x76
+
+#define DPS310_REG_PSR_B2           0x00
+#define DPS310_REG_PSR_B1           0x01
+#define DPS310_REG_PSR_B0           0x02
+#define DPS310_REG_TMP_B2           0x03
+#define DPS310_REG_TMP_B1           0x04
+#define DPS310_REG_TMP_B0           0x05
+#define DPS310_REG_PRS_CFG          0x06
+#define DPS310_REG_TMP_CFG          0x07
+#define DPS310_REG_MEAS_CFG         0x08
+#define DPS310_REG_CFG_REG          0x09
+
+#define DPS310_REG_RESET            0x0C
+#define DPS310_REG_ID               0x0D
+
+#define DPS310_REG_COEF             0x10
+#define DPS310_REG_COEF_SRCE        0x28
+
+
+#define DPS310_ID_REV_AND_PROD_ID       (0x10)
+
+#define DPS310_RESET_BIT_SOFT_RST       (0x09)    // 0b1001
+
+#define DPS310_MEAS_CFG_COEF_RDY        (1 << 7)
+#define DPS310_MEAS_CFG_SENSOR_RDY      (1 << 6)
+#define DPS310_MEAS_CFG_TMP_RDY         (1 << 5)
+#define DPS310_MEAS_CFG_PRS_RDY         (1 << 4)
+#define DPS310_MEAS_CFG_MEAS_CTRL_CONT  (0x7)
+
+#define DPS310_PRS_CFG_BIT_PM_RATE_32HZ (0x50)      //  101 - 32 measurements pr. sec.
+#define DPS310_PRS_CFG_BIT_PM_PRC_16    (0x04)      // 0100 - 16 times (Standard).
+
+#define DPS310_TMP_CFG_BIT_TMP_EXT          (0x80)  //
+#define DPS310_TMP_CFG_BIT_TMP_RATE_32HZ    (0x50)  //  101 - 32 measurements pr. sec.
+#define DPS310_TMP_CFG_BIT_TMP_PRC_16       (0x04)  // 0100 - 16 times (Standard).
+
+#define DPS310_CFG_REG_BIT_P_SHIFT          (0x04)
+#define DPS310_CFG_REG_BIT_T_SHIFT          (0x08)
+
+#define DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE  (0x80)
+
+typedef struct {
+    int16_t c0;     // 12bit
+    int16_t c1;     // 12bit
+    int32_t c00;    // 20bit
+    int32_t c10;    // 20bit
+    int16_t c01;    // 16bit
+    int16_t c11;    // 16bit
+    int16_t c20;    // 16bit
+    int16_t c21;    // 16bit
+    int16_t c30;    // 16bit
+} calibrationCoefficients_t;
+
+typedef struct {
+    calibrationCoefficients_t   calib;
+    float                       pressure;       // Pa
+    float                       temperature;    // DegC
+} baroState_t;
+
+static baroState_t  baroState;
+
+#define busReadBuf busReadRegisterBuffer
+#define busWrite   busWriteRegister
+
+static uint8_t buf[6];
+
+// Helper functions
+static uint8_t registerRead(busDevice_t * busDev, uint8_t reg)
+{
+    return busReadRegister(busDev, reg);
+}
+
+static void registerWrite(busDevice_t * busDev, uint8_t reg, uint8_t value)
+{
+    busWrite(busDev, reg, value);
+}
+
+static void registerSetBits(busDevice_t * busDev, uint8_t reg, uint8_t setbits)
+{
+    uint8_t val = registerRead(busDev, reg);
+
+    if ((val & setbits) != setbits) {
+        val |= setbits;
+        registerWrite(busDev, reg, val);
+    }
+}
+
+static int32_t getTwosComplement(uint32_t raw, uint8_t length)
+{
+    if (raw & ((int)1 << (length - 1))) {
+        return ((int32_t)raw) - ((int32_t)1 << length);
+    }
+    else {
+        return raw;
+    }
+}
+
+static bool deviceConfigure(busDevice_t * busDev)
+{
+    // Trigger a chip reset
+    registerSetBits(busDev, DPS310_REG_RESET, DPS310_RESET_BIT_SOFT_RST);
+
+    // Sleep 40ms
+    delay(40);
+
+    uint8_t status = registerRead(busDev, DPS310_REG_MEAS_CFG);
+
+    // Check if coefficients are available
+    if ((status & DPS310_MEAS_CFG_COEF_RDY) == 0) {
+        return false;
+    }
+
+    // Check if sensor initialization is complete
+    if ((status & DPS310_MEAS_CFG_SENSOR_RDY) == 0) {
+        return false;
+    }
+
+    // 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register.
+    //   Note: The coefficients read from the coefficient register are 2's complement numbers.
+
+    // Do the read of the coefficients in multiple parts, as the chip will return a read failure when trying to read all at once over I2C.
+#define COEFFICIENT_LENGTH 18
+#define READ_LENGTH (COEFFICIENT_LENGTH / 2)
+
+    uint8_t coef[COEFFICIENT_LENGTH];
+    if (!busReadBuf(busDev, DPS310_REG_COEF, coef, READ_LENGTH)) {
+        return false;
+    }
+     if (!busReadBuf(busDev, DPS310_REG_COEF + READ_LENGTH, coef + READ_LENGTH, COEFFICIENT_LENGTH - READ_LENGTH)) {
+        return false;
+    }
+
+    // 0x11 c0 [3:0] + 0x10 c0 [11:4]
+    baroState.calib.c0 = getTwosComplement(((uint32_t)coef[0] << 4) | (((uint32_t)coef[1] >> 4) & 0x0F), 12);
+
+    // 0x11 c1 [11:8] + 0x12 c1 [7:0]
+    baroState.calib.c1 = getTwosComplement((((uint32_t)coef[1] & 0x0F) << 8) | (uint32_t)coef[2], 12);
+
+    // 0x13 c00 [19:12] + 0x14 c00 [11:4] + 0x15 c00 [3:0]
+    baroState.calib.c00 = getTwosComplement(((uint32_t)coef[3] << 12) | ((uint32_t)coef[4] << 4) | (((uint32_t)coef[5] >> 4) & 0x0F), 20);
+
+    // 0x15 c10 [19:16] + 0x16 c10 [15:8] + 0x17 c10 [7:0]
+    baroState.calib.c10 = getTwosComplement((((uint32_t)coef[5] & 0x0F) << 16) | ((uint32_t)coef[6] << 8) | (uint32_t)coef[7], 20);
+
+    // 0x18 c01 [15:8] + 0x19 c01 [7:0]
+    baroState.calib.c01 = getTwosComplement(((uint32_t)coef[8] << 8) | (uint32_t)coef[9], 16);
+
+    // 0x1A c11 [15:8] + 0x1B c11 [7:0]
+    baroState.calib.c11 = getTwosComplement(((uint32_t)coef[8] << 8) | (uint32_t)coef[9], 16);
+
+    // 0x1C c20 [15:8] + 0x1D c20 [7:0]
+    baroState.calib.c20 = getTwosComplement(((uint32_t)coef[12] << 8) | (uint32_t)coef[13], 16);
+
+    // 0x1E c21 [15:8] + 0x1F c21 [7:0]
+    baroState.calib.c21 = getTwosComplement(((uint32_t)coef[14] << 8) | (uint32_t)coef[15], 16);
+
+    // 0x20 c30 [15:8] + 0x21 c30 [7:0]
+    baroState.calib.c30 = getTwosComplement(((uint32_t)coef[16] << 8) | (uint32_t)coef[17], 16);
+
+    // PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard)
+    registerSetBits(busDev, DPS310_REG_PRS_CFG, DPS310_PRS_CFG_BIT_PM_RATE_32HZ | DPS310_PRS_CFG_BIT_PM_PRC_16);
+
+    // TMP_CFG: temperature measurement rate (32 Hz) and oversampling (16 times)
+    const uint8_t TMP_COEF_SRCE = registerRead(busDev, DPS310_REG_COEF_SRCE) & DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE;
+    registerSetBits(busDev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16 | TMP_COEF_SRCE);
+
+    // CFG_REG: set pressure and temperature result bit-shift (required when the oversampling rate is >8 times)
+    registerSetBits(busDev, DPS310_REG_CFG_REG, DPS310_CFG_REG_BIT_T_SHIFT | DPS310_CFG_REG_BIT_P_SHIFT);
+
+    // MEAS_CFG: Continuous pressure and temperature measurement
+    registerSetBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_CONT);
+
+    return true;
+}
+
+static bool dps310GetUP(baroDev_t *baro)
+{
+    UNUSED(baro);
+
+    // 2. Choose scaling factors kT (for temperature) and kP (for pressure) based on the chosen precision rate.
+    // The scaling factors are listed in Table 9.
+    static float kT = 253952; // 16 times (Standard)
+    static float kP = 253952; // 16 times (Standard)
+
+    // 3. Read the pressure and temperature result from the registers
+
+    const int32_t Praw = getTwosComplement((buf[0] << 16) + (buf[1] << 8) + buf[2], 24);
+    const int32_t Traw = getTwosComplement((buf[3] << 16) + (buf[4] << 8) + buf[5], 24);
+
+    // 4. Calculate scaled measurement results.
+    const float Praw_sc = Praw / kP;
+    const float Traw_sc = Traw / kT;
+
+    // 5. Calculate compensated measurement results.
+    const float c00 = baroState.calib.c00;
+    const float c01 = baroState.calib.c01;
+    const float c10 = baroState.calib.c10;
+    const float c11 = baroState.calib.c11;
+    const float c20 = baroState.calib.c20;
+    const float c21 = baroState.calib.c21;
+    const float c30 = baroState.calib.c30;
+
+    const float c0 = baroState.calib.c0;
+    const float c1 = baroState.calib.c1;
+
+    baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21);
+    baroState.temperature = c0 * 0.5f + c1 * Traw_sc;
+
+    return true;
+}
+
+static void deviceCalculate(int32_t *pressure, int32_t *temperature)
+{
+    if (pressure) {
+        *pressure = baroState.pressure; 
+    }
+
+    if (temperature) {
+        *temperature = (baroState.temperature * 100);   // to centidegrees
+    }
+}
+
+
+
+#define DETECTION_MAX_RETRY_COUNT   5
+static bool deviceDetect(busDevice_t * busDev)
+{
+    for (int retry = 0; retry < DETECTION_MAX_RETRY_COUNT; retry++) {
+        uint8_t chipId[1];
+
+        delay(100);
+
+        bool ack = busReadBuf(busDev, DPS310_REG_ID, chipId, 1);
+
+        if (ack && chipId[0] == DPS310_ID_REV_AND_PROD_ID) {
+            return true;
+        }
+    };
+
+    return false;
+}
+
+static void dps310StartUT(baroDev_t *baro)
+{
+    UNUSED(baro);
+}
+
+static bool dps310GetUT(baroDev_t *baro)
+{
+    UNUSED(baro);
+
+    return true;
+}
+
+static void dps310StartUP(baroDev_t *baro)
+{
+    if (busBusy(&baro->busdev, NULL)) {
+        return false;
+    }
+
+    // 1. Kick off read
+    // No need to poll for data ready as the conversion rate is 32Hz and this is sampling at 20Hz
+    // Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
+     busReadRegisterBufferStart(&baro->busdev, DPS310_REG_PSR_B2, buf, 6);
+
+    return true;
+}
+
+static void busDeviceInit(busDevice_t *busdev, resourceOwner_e owner)
+{
+#ifdef USE_BARO_SPI_DPS310
+    if (busdev->bustype == BUSTYPE_SPI) {
+        IOHi(busdev->busdev_u.spi.csnPin); // Disable
+        IOInit(busdev->busdev_u.spi.csnPin, owner, 0);
+        IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
+#ifdef USE_SPI_TRANSACTION
+        spiBusTransactionInit(busdev, SPI_MODE0_POL_LOW_EDGE_1ST, spiCalculateDivider(DPS310_MAX_SPI_CLK_HZ)); // DPS310 supports Mode 0 or 3
+#else
+        spiBusSetDivisor(busdev, spiCalculateDivider(DPS310_MAX_SPI_CLK_HZ));
+#endif
+    }
+#else
+    UNUSED(busdev);
+    UNUSED(owner);
+#endif
+}
+
+static void busDeviceDeInit(busDevice_t *busdev)
+{
+#ifdef USE_BARO_SPI_DPS310
+    if (busdev->bustype == BUSTYPE_SPI) {
+        spiPreinitByIO(busdev->busdev_u.spi.csnPin);
+    }
+#else
+    UNUSED(busdev);
+#endif
+}
+
+bool baroDPS310Detect(baroDev_t *baro)
+{
+    busDevice_t *busdev = &baro->busdev;
+    bool defaultAddressApplied = false;
+
+    busDeviceInit(&baro->busdev, OWNER_BARO_CS);
+
+    if ((busdev->bustype == BUSTYPE_I2C) && (busdev->busdev_u.i2c.address == 0)) {
+        // Default address for BMP280
+        busdev->busdev_u.i2c.address = DPS310_I2C_ADDR;
+        defaultAddressApplied = true;
+    }
+
+    if (!deviceDetect(busdev)) {
+        busDeviceDeInit(busdev);
+        if (defaultAddressApplied) {
+            busdev->busdev_u.i2c.address = 0;
+        }
+        return false;
+    }
+
+    if (!deviceConfigure(busdev)) {
+        busDeviceDeInit(busdev);
+        return false;
+    }
+
+    busDeviceRegister(busdev);
+
+    baro->ut_delay = 0;
+    baro->start_ut = dps310StartUT;
+    baro->get_ut = dps310GetUT;
+
+    baro->up_delay = 45000; // 45ms delay plus 5 1ms cycles 50ms
+    baro->start_up = dps310StartUP;
+    baro->get_up = dps310GetUP;
+
+    baro->calculate = deviceCalculate;
+
+    return true;
+}
+
+#endif
diff --git a/src/main/drivers/barometer/barometer_dps310.h b/src/main/drivers/barometer/barometer_dps310.h
new file mode 100644
index 0000000000..eccf15dfbc
--- /dev/null
+++ b/src/main/drivers/barometer/barometer_dps310.h
@@ -0,0 +1,29 @@
+/*
+ * This file is part of Cleanflight, Betaflight and INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ *
+ * Copyright: INAVFLIGHT
+ */
+
+#pragma once
+
+bool baroDPS310Detect(baroDev_t *baro);
diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 5056d2e0c4..381fa72b73 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -67,7 +67,13 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig) {
     //   a. Precedence is in the order of popularity; BMP280, MS5611 then BMP085, then
     //   b. If SPI variant is specified, it is likely onboard, so take it.
 #if !(defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP085) || defined(DEFAULT_BARO_SPI_LPS) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_QMP6988))
-#if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
+#if defined(USE_BARO_DPS310) || defined(USE_BARO_SPI_DPS310)
+#if defined(USE_BARO_SPI_DPS310)
+#define DEFAULT_BARO_SPI_DPS310
+#else
+#define DEFAULT_BARO_DPS310
+#endif
+#elif defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
 #if defined(USE_BARO_SPI_BMP280)
 #define DEFAULT_BARO_SPI_BMP280
 #else
diff --git a/src/main/target/MAMBAF722/target.h b/src/main/target/MAMBAF722/target.h
index f4b0a3fb82..b55a0734df 100644
--- a/src/main/target/MAMBAF722/target.h
+++ b/src/main/target/MAMBAF722/target.h
@@ -67,6 +67,8 @@
 #define USE_BARO_MS5611
 #define USE_BARO_BMP280
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
+#define USE_BARO_SPI_DPS310
 
 #define USE_I2C
 #define USE_I2C_DEVICE_1

From 93dab35159d03f5bfc1c2fe2da401209bb497c4d Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Fri, 21 May 2021 23:45:58 -0300
Subject: [PATCH 02/32] parse DPS310 to hardware detect

---
 src/main/sensors/barometer.c | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 381fa72b73..5934af2020 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -40,6 +40,7 @@
 #include "drivers/barometer/barometer_fake.h"
 #include "drivers/barometer/barometer_ms5611.h"
 #include "drivers/barometer/barometer_lps.h"
+#include "drivers/barometer/barometer_dps310.h"
 
 #include "fc/runtime_config.h"
 
@@ -151,7 +152,7 @@ static uint32_t baroPressureSum = 0;
 bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse) {
     // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
     baroSensor_e baroHardware = baroHardwareToUse;
-#if !defined(USE_BARO_BMP085) && !defined(USE_BARO_MS5611) && !defined(USE_BARO_SPI_MS5611) && !defined(USE_BARO_BMP280) && !defined(USE_BARO_SPI_BMP280)&& !defined(USE_BARO_QMP6988) && !defined(USE_BARO_SPI_QMP6988)
+#if !defined(USE_BARO_BMP085) && !defined(USE_BARO_MS5611) && !defined(USE_BARO_SPI_MS5611) && !defined(USE_BARO_BMP280) && !defined(USE_BARO_SPI_BMP280)&& !defined(USE_BARO_QMP6988) && !defined(USE_BARO_SPI_QMP6988) && !defined(USE_BARO_SPI_DPS310)
     UNUSED(dev);
 #endif
     switch (barometerConfig()->baro_bustype) {
@@ -207,6 +208,16 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse) {
             baroHardware = BARO_LPS;
             break;
         }
+#endif
+        FALLTHROUGH;
+        case BARO_DPS310:
+#if defined(USE_BARO_DPS310) || defined(USE_BARO_SPI_DPS310)
+        {
+            if (baroDPS310Detect(dev)) {
+                baroHardware = BARO_DPS310;
+                break;
+            }
+        }
 #endif
         FALLTHROUGH;
     case BARO_BMP280:

From 9dd3944fcfe099ee2da6272459a775e22eee0768 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Fri, 21 May 2021 23:47:54 -0300
Subject: [PATCH 03/32] parse DPS310 to settings.c

---
 src/main/interface/settings.c | 2 +-
 src/main/sensors/barometer.h  | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index cfa753d80f..9b7a347ef1 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -119,7 +119,7 @@ const char * const lookupTableGyroHardware[] = {
 #if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
 // sync with baroSensor_e
 const char * const lookupTableBaroHardware[] = {
-    "AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988"
+    "AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988", "DPS310"
 };
 #endif
 #if defined(USE_SENSOR_NAMES) || defined(USE_MAG)
diff --git a/src/main/sensors/barometer.h b/src/main/sensors/barometer.h
index 11533a57b3..e48df1ed90 100644
--- a/src/main/sensors/barometer.h
+++ b/src/main/sensors/barometer.h
@@ -30,7 +30,8 @@ typedef enum {
     BARO_MS5611 = 3,
     BARO_BMP280 = 4,
     BARO_LPS = 5,
-    BARO_QMP6988 = 6
+    BARO_QMP6988 = 6,
+    BARO_DPS310 = 7,
 } baroSensor_e;
 
 #define BARO_SAMPLE_COUNT_MAX   48

From 3d83deda33662f9da8e849b4be0eb8175c317988 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Fri, 21 May 2021 23:57:02 -0300
Subject: [PATCH 04/32] correct name of i2c and spi bus functions that are
 different from betaflight

---
 src/main/drivers/barometer/barometer_dps310.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 5fee6f1b8f..2379668a05 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -311,7 +311,7 @@ static void dps310StartUP(baroDev_t *baro)
     // 1. Kick off read
     // No need to poll for data ready as the conversion rate is 32Hz and this is sampling at 20Hz
     // Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
-     busReadRegisterBufferStart(&baro->busdev, DPS310_REG_PSR_B2, buf, 6);
+    busReadRegisterBuffer(&baro->busdev, DPS310_REG_PSR_B2, buf, 6);
 
     return true;
 }
@@ -326,7 +326,7 @@ static void busDeviceInit(busDevice_t *busdev, resourceOwner_e owner)
 #ifdef USE_SPI_TRANSACTION
         spiBusTransactionInit(busdev, SPI_MODE0_POL_LOW_EDGE_1ST, spiCalculateDivider(DPS310_MAX_SPI_CLK_HZ)); // DPS310 supports Mode 0 or 3
 #else
-        spiBusSetDivisor(busdev, spiCalculateDivider(DPS310_MAX_SPI_CLK_HZ));
+        spiSetDivisor(busdev, spiCalculateDivider(DPS310_MAX_SPI_CLK_HZ));
 #endif
     }
 #else
@@ -339,7 +339,7 @@ static void busDeviceDeInit(busDevice_t *busdev)
 {
 #ifdef USE_BARO_SPI_DPS310
     if (busdev->bustype == BUSTYPE_SPI) {
-        spiPreinitByIO(busdev->busdev_u.spi.csnPin);
+        spiPreinitCsByIO(busdev->busdev_u.spi.csnPin);
     }
 #else
     UNUSED(busdev);

From 9b2c18f776e254fbf734af08596d2c67928307c6 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 00:24:36 -0300
Subject: [PATCH 05/32] add new function to bus_spi.c to use with DPS310

---
 src/main/drivers/barometer/barometer_dps310.c |  4 ----
 src/main/drivers/bus_spi.c                    | 19 +++++++++++++++++++
 src/main/drivers/bus_spi.h                    |  1 +
 3 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 2379668a05..9d65e49901 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -323,11 +323,7 @@ static void busDeviceInit(busDevice_t *busdev, resourceOwner_e owner)
         IOHi(busdev->busdev_u.spi.csnPin); // Disable
         IOInit(busdev->busdev_u.spi.csnPin, owner, 0);
         IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
-#ifdef USE_SPI_TRANSACTION
-        spiBusTransactionInit(busdev, SPI_MODE0_POL_LOW_EDGE_1ST, spiCalculateDivider(DPS310_MAX_SPI_CLK_HZ)); // DPS310 supports Mode 0 or 3
-#else
         spiSetDivisor(busdev, spiCalculateDivider(DPS310_MAX_SPI_CLK_HZ));
-#endif
     }
 #else
     UNUSED(busdev);
diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
index 93cec8510a..236ed0b0b2 100644
--- a/src/main/drivers/bus_spi.c
+++ b/src/main/drivers/bus_spi.c
@@ -251,4 +251,23 @@ void spiBusSetInstance(busDevice_t *bus, SPI_TypeDef *instance) {
     bus->bustype = BUSTYPE_SPI;
     bus->busdev_u.spi.instance = instance;
 }
+
+uint16_t spiCalculateDivider(uint32_t freq)
+{
+#if defined(STM32F4) || defined(STM32G4) || defined(STM32F7)
+    uint32_t spiClk = SystemCoreClock / 2;
+#elif defined(STM32H7)
+    uint32_t spiClk = 100000000;
+#else
+#error "Base SPI clock not defined for this architecture"
+#endif
+
+    uint16_t divisor = 2;
+
+    spiClk >>= 1;
+
+    for (; (spiClk > freq) && (divisor < 256); divisor <<= 1, spiClk >>= 1);
+
+    return divisor;
+}
 #endif
diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h
index 12d8d068a7..a487b089cb 100644
--- a/src/main/drivers/bus_spi.h
+++ b/src/main/drivers/bus_spi.h
@@ -118,6 +118,7 @@ bool spiBusWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data);
 bool spiBusReadRegisterBuffer(const busDevice_t *bus, uint8_t reg, uint8_t *data, uint8_t length);
 uint8_t spiBusReadRegister(const busDevice_t *bus, uint8_t reg);
 void spiBusSetInstance(busDevice_t *bus, SPI_TypeDef *instance);
+uint16_t spiCalculateDivider(uint32_t freq);
 
 struct spiPinConfig_s;
 void spiPinConfigure(const struct spiPinConfig_s *pConfig);

From 961a429a760bd87c3752f08557496cbe34c940a8 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 00:28:53 -0300
Subject: [PATCH 06/32] remove new function of bus_spi.c and use the
 SPI_CLOCK_STANDARD

---
 src/main/drivers/barometer/barometer_dps310.c |  2 +-
 src/main/drivers/bus_spi.c                    | 19 -------------------
 src/main/drivers/bus_spi.h                    |  1 -
 3 files changed, 1 insertion(+), 21 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 9d65e49901..9cffd06096 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -323,7 +323,7 @@ static void busDeviceInit(busDevice_t *busdev, resourceOwner_e owner)
         IOHi(busdev->busdev_u.spi.csnPin); // Disable
         IOInit(busdev->busdev_u.spi.csnPin, owner, 0);
         IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
-        spiSetDivisor(busdev, spiCalculateDivider(DPS310_MAX_SPI_CLK_HZ));
+        spiSetDivisor(busdev, SPI_CLOCK_STANDARD);
     }
 #else
     UNUSED(busdev);
diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
index 236ed0b0b2..93cec8510a 100644
--- a/src/main/drivers/bus_spi.c
+++ b/src/main/drivers/bus_spi.c
@@ -251,23 +251,4 @@ void spiBusSetInstance(busDevice_t *bus, SPI_TypeDef *instance) {
     bus->bustype = BUSTYPE_SPI;
     bus->busdev_u.spi.instance = instance;
 }
-
-uint16_t spiCalculateDivider(uint32_t freq)
-{
-#if defined(STM32F4) || defined(STM32G4) || defined(STM32F7)
-    uint32_t spiClk = SystemCoreClock / 2;
-#elif defined(STM32H7)
-    uint32_t spiClk = 100000000;
-#else
-#error "Base SPI clock not defined for this architecture"
-#endif
-
-    uint16_t divisor = 2;
-
-    spiClk >>= 1;
-
-    for (; (spiClk > freq) && (divisor < 256); divisor <<= 1, spiClk >>= 1);
-
-    return divisor;
-}
 #endif
diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h
index a487b089cb..12d8d068a7 100644
--- a/src/main/drivers/bus_spi.h
+++ b/src/main/drivers/bus_spi.h
@@ -118,7 +118,6 @@ bool spiBusWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data);
 bool spiBusReadRegisterBuffer(const busDevice_t *bus, uint8_t reg, uint8_t *data, uint8_t length);
 uint8_t spiBusReadRegister(const busDevice_t *bus, uint8_t reg);
 void spiBusSetInstance(busDevice_t *bus, SPI_TypeDef *instance);
-uint16_t spiCalculateDivider(uint32_t freq);
 
 struct spiPinConfig_s;
 void spiPinConfigure(const struct spiPinConfig_s *pConfig);

From 67ca5634ea1d14467086c1105596032a49b86fd6 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 12:26:20 -0300
Subject: [PATCH 07/32] remove owner and #define

---
 src/main/drivers/barometer/barometer_dps310.c | 2 +-
 src/main/target/MAMBAF722/target.h            | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 9cffd06096..6f946fefeb 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -316,7 +316,7 @@ static void dps310StartUP(baroDev_t *baro)
     return true;
 }
 
-static void busDeviceInit(busDevice_t *busdev, resourceOwner_e owner)
+static void busDeviceInit(busDevice_t *busdev)
 {
 #ifdef USE_BARO_SPI_DPS310
     if (busdev->bustype == BUSTYPE_SPI) {
diff --git a/src/main/target/MAMBAF722/target.h b/src/main/target/MAMBAF722/target.h
index b55a0734df..8f5a4249fe 100644
--- a/src/main/target/MAMBAF722/target.h
+++ b/src/main/target/MAMBAF722/target.h
@@ -68,7 +68,6 @@
 #define USE_BARO_BMP280
 #define USE_BARO_BMP085
 #define USE_BARO_DPS310
-#define USE_BARO_SPI_DPS310
 
 #define USE_I2C
 #define USE_I2C_DEVICE_1

From 4ad909ecf7a438aea0aee33959e10670e258e0f2 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 20:36:31 -0300
Subject: [PATCH 08/32] add extension in makefile

---
 src/main/target/MAMBAF722/target.mk | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/target/MAMBAF722/target.mk b/src/main/target/MAMBAF722/target.mk
index 916eedfa23..9045434025 100644
--- a/src/main/target/MAMBAF722/target.mk
+++ b/src/main/target/MAMBAF722/target.mk
@@ -7,6 +7,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_dps310.h \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c 

From 6cdb8905b1938151baf25d1c0ed1bdfa98ef272a Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 20:48:12 -0300
Subject: [PATCH 09/32] fix

---
 make/source.mk                      | 1 +
 src/main/target/MAMBAF722/target.mk | 1 -
 src/main/target/MATEKF722/target.mk | 1 +
 3 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/make/source.mk b/make/source.mk
index 88ee3ece83..c91383e06c 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -252,6 +252,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_fake.c \
             drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_dps310.h \
             drivers/barometer/barometer_lps.c \
             drivers/barometer/barometer_qmp6988.c \
             drivers/beesign.c \
diff --git a/src/main/target/MAMBAF722/target.mk b/src/main/target/MAMBAF722/target.mk
index 9045434025..916eedfa23 100644
--- a/src/main/target/MAMBAF722/target.mk
+++ b/src/main/target/MAMBAF722/target.mk
@@ -7,7 +7,6 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
-            drivers/barometer/barometer_dps310.h \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c 
diff --git a/src/main/target/MATEKF722/target.mk b/src/main/target/MATEKF722/target.mk
index 7934b618a3..bddd0a2c8e 100644
--- a/src/main/target/MATEKF722/target.mk
+++ b/src/main/target/MATEKF722/target.mk
@@ -8,6 +8,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_dps310.h \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c

From 2fa32f1b3ec4adefe4b26e308baf9a9449f6ac46 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 21:02:53 -0300
Subject: [PATCH 10/32] to *c.

---
 make/source.mk                      | 2 +-
 src/main/target/MATEKF722/target.mk | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/make/source.mk b/make/source.mk
index c91383e06c..297fe697ff 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -252,7 +252,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_fake.c \
             drivers/barometer/barometer_ms5611.c \
-            drivers/barometer/barometer_dps310.h \
+            drivers/barometer/barometer_dps310.c \
             drivers/barometer/barometer_lps.c \
             drivers/barometer/barometer_qmp6988.c \
             drivers/beesign.c \
diff --git a/src/main/target/MATEKF722/target.mk b/src/main/target/MATEKF722/target.mk
index bddd0a2c8e..25f5c3d230 100644
--- a/src/main/target/MATEKF722/target.mk
+++ b/src/main/target/MATEKF722/target.mk
@@ -8,7 +8,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
-            drivers/barometer/barometer_dps310.h \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c

From 3732941316ade877dd488d4600dfe07bbd597561 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 21:08:13 -0300
Subject: [PATCH 11/32] force new build

---
 src/main/drivers/barometer/barometer_dps310.c | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 6f946fefeb..e68906eeaa 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -327,7 +327,6 @@ static void busDeviceInit(busDevice_t *busdev)
     }
 #else
     UNUSED(busdev);
-    UNUSED(owner);
 #endif
 }
 

From a8957925b81158b777de0bb5599edf4a10747055 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 21:26:46 -0300
Subject: [PATCH 12/32] move #define to MATEKF722

---
 src/main/target/MAMBAF722/target.h | 1 -
 src/main/target/MATEKF722/target.h | 1 +
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/MAMBAF722/target.h b/src/main/target/MAMBAF722/target.h
index 8f5a4249fe..f4b0a3fb82 100644
--- a/src/main/target/MAMBAF722/target.h
+++ b/src/main/target/MAMBAF722/target.h
@@ -67,7 +67,6 @@
 #define USE_BARO_MS5611
 #define USE_BARO_BMP280
 #define USE_BARO_BMP085
-#define USE_BARO_DPS310
 
 #define USE_I2C
 #define USE_I2C_DEVICE_1
diff --git a/src/main/target/MATEKF722/target.h b/src/main/target/MATEKF722/target.h
index 6da9f5f237..3589e16169 100644
--- a/src/main/target/MATEKF722/target.h
+++ b/src/main/target/MATEKF722/target.h
@@ -78,6 +78,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 //*********** Magnetometer / Compass *************
 #define USE_MAG

From ff621a1691356ec3db143d5796c961c3cd7671aa Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 22:01:55 -0300
Subject: [PATCH 13/32] fix compilation error

---
 src/main/drivers/barometer/barometer_dps310.c | 20 ++++---------------
 1 file changed, 4 insertions(+), 16 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index e68906eeaa..fd009550a4 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -223,7 +223,7 @@ static bool deviceConfigure(busDevice_t * busDev)
     return true;
 }
 
-static bool dps310GetUP(baroDev_t *baro)
+static void dps310GetUP(baroDev_t *baro)
 {
     UNUSED(baro);
 
@@ -255,8 +255,6 @@ static bool dps310GetUP(baroDev_t *baro)
 
     baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21);
     baroState.temperature = c0 * 0.5f + c1 * Traw_sc;
-
-    return true;
 }
 
 static void deviceCalculate(int32_t *pressure, int32_t *temperature)
@@ -295,25 +293,17 @@ static void dps310StartUT(baroDev_t *baro)
     UNUSED(baro);
 }
 
-static bool dps310GetUT(baroDev_t *baro)
+static void dps310GetUT(baroDev_t *baro)
 {
     UNUSED(baro);
-
-    return true;
 }
 
 static void dps310StartUP(baroDev_t *baro)
 {
-    if (busBusy(&baro->busdev, NULL)) {
-        return false;
-    }
-
     // 1. Kick off read
     // No need to poll for data ready as the conversion rate is 32Hz and this is sampling at 20Hz
     // Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
     busReadRegisterBuffer(&baro->busdev, DPS310_REG_PSR_B2, buf, 6);
-
-    return true;
 }
 
 static void busDeviceInit(busDevice_t *busdev)
@@ -321,7 +311,7 @@ static void busDeviceInit(busDevice_t *busdev)
 #ifdef USE_BARO_SPI_DPS310
     if (busdev->bustype == BUSTYPE_SPI) {
         IOHi(busdev->busdev_u.spi.csnPin); // Disable
-        IOInit(busdev->busdev_u.spi.csnPin, owner, 0);
+        IOInit(busdev->busdev_u.spi.csnPin, OWNER_BARO_CS, 0);
         IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
         spiSetDivisor(busdev, SPI_CLOCK_STANDARD);
     }
@@ -346,7 +336,7 @@ bool baroDPS310Detect(baroDev_t *baro)
     busDevice_t *busdev = &baro->busdev;
     bool defaultAddressApplied = false;
 
-    busDeviceInit(&baro->busdev, OWNER_BARO_CS);
+    busDeviceInit(&baro->busdev);
 
     if ((busdev->bustype == BUSTYPE_I2C) && (busdev->busdev_u.i2c.address == 0)) {
         // Default address for BMP280
@@ -367,8 +357,6 @@ bool baroDPS310Detect(baroDev_t *baro)
         return false;
     }
 
-    busDeviceRegister(busdev);
-
     baro->ut_delay = 0;
     baro->start_ut = dps310StartUT;
     baro->get_ut = dps310GetUT;

From b05453b2cb742bd25cb4ae278bb49f51d2c88c33 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 22 May 2021 22:44:11 -0300
Subject: [PATCH 14/32] remove unused #define

---
 src/main/drivers/barometer/barometer_dps310.c | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index fd009550a4..350b649580 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -42,9 +42,6 @@
 #include "drivers/barometer/barometer_dps310.h"
 #include "drivers/resource.h"
 
-// 10 MHz max SPI frequency
-#define DPS310_MAX_SPI_CLK_HZ 10000000
-
 #if defined(USE_BARO) && defined(USE_BARO_DPS310)
 
 #define DPS310_I2C_ADDR             0x76

From 8ec625ed07faf266646dde8eb0ae92edfa70d575 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 26 May 2021 12:08:13 -0300
Subject: [PATCH 15/32] version SE

---
 src/main/target/MATEKF722SE/target.h  | 1 +
 src/main/target/MATEKF722SE/target.mk | 1 +
 2 files changed, 2 insertions(+)

diff --git a/src/main/target/MATEKF722SE/target.h b/src/main/target/MATEKF722SE/target.h
index df30407eda..683f29d304 100755
--- a/src/main/target/MATEKF722SE/target.h
+++ b/src/main/target/MATEKF722SE/target.h
@@ -89,6 +89,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 #define MAG_I2C_INSTANCE        (I2CDEV_1)
 #define USE_MAG
diff --git a/src/main/target/MATEKF722SE/target.mk b/src/main/target/MATEKF722SE/target.mk
index db67145925..6180b7b01c 100755
--- a/src/main/target/MATEKF722SE/target.mk
+++ b/src/main/target/MATEKF722SE/target.mk
@@ -9,6 +9,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c

From 52e273bd5139b6dba48fec392a180dddbf64040b Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 26 May 2021 19:09:02 -0300
Subject: [PATCH 16/32] fix laggy and steppy

---
 src/main/drivers/barometer/barometer_dps310.c | 87 +++++--------------
 1 file changed, 23 insertions(+), 64 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 350b649580..d863cad5f3 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -42,7 +42,7 @@
 #include "drivers/barometer/barometer_dps310.h"
 #include "drivers/resource.h"
 
-#if defined(USE_BARO) && defined(USE_BARO_DPS310)
+//#if defined(USE_BARO) && defined(USE_BARO_DPS310)
 
 #define DPS310_I2C_ADDR             0x76
 
@@ -106,9 +106,6 @@ typedef struct {
 
 static baroState_t  baroState;
 
-#define busReadBuf busReadRegisterBuffer
-#define busWrite   busWriteRegister
-
 static uint8_t buf[6];
 
 // Helper functions
@@ -119,7 +116,7 @@ static uint8_t registerRead(busDevice_t * busDev, uint8_t reg)
 
 static void registerWrite(busDevice_t * busDev, uint8_t reg, uint8_t value)
 {
-    busWrite(busDev, reg, value);
+    busWriteRegister(busDev, reg, value);
 }
 
 static void registerSetBits(busDevice_t * busDev, uint8_t reg, uint8_t setbits)
@@ -170,10 +167,10 @@ static bool deviceConfigure(busDevice_t * busDev)
 #define READ_LENGTH (COEFFICIENT_LENGTH / 2)
 
     uint8_t coef[COEFFICIENT_LENGTH];
-    if (!busReadBuf(busDev, DPS310_REG_COEF, coef, READ_LENGTH)) {
+    if (!busReadRegisterBuffer(busDev, DPS310_REG_COEF, coef, READ_LENGTH)) {
         return false;
     }
-     if (!busReadBuf(busDev, DPS310_REG_COEF + READ_LENGTH, coef + READ_LENGTH, COEFFICIENT_LENGTH - READ_LENGTH)) {
+     if (!busReadRegisterBuffer(busDev, DPS310_REG_COEF + READ_LENGTH, coef + READ_LENGTH, COEFFICIENT_LENGTH - READ_LENGTH)) {
         return false;
     }
 
@@ -220,9 +217,13 @@ static bool deviceConfigure(busDevice_t * busDev)
     return true;
 }
 
-static void dps310GetUP(baroDev_t *baro)
+static bool deviceReadMeasurement(baroDev_t *baro)
 {
-    UNUSED(baro);
+    // 1. Check if pressure is ready
+    bool pressure_ready = registerRead(&baro->busdev, DPS310_REG_MEAS_CFG) & DPS310_MEAS_CFG_PRS_RDY;
+    if (!pressure_ready) {
+        return false;
+    }
 
     // 2. Choose scaling factors kT (for temperature) and kP (for pressure) based on the chosen precision rate.
     // The scaling factors are listed in Table 9.
@@ -230,6 +231,11 @@ static void dps310GetUP(baroDev_t *baro)
     static float kP = 253952; // 16 times (Standard)
 
     // 3. Read the pressure and temperature result from the registers
+    // Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
+    uint8_t buf[6];
+    if (!busReadRegisterBuffer(&baro->busdev, DPS310_REG_PSR_B2, buf, 6)) {
+        return false;
+    }
 
     const int32_t Praw = getTwosComplement((buf[0] << 16) + (buf[1] << 8) + buf[2], 24);
     const int32_t Traw = getTwosComplement((buf[3] << 16) + (buf[4] << 8) + buf[5], 24);
@@ -265,8 +271,6 @@ static void deviceCalculate(int32_t *pressure, int32_t *temperature)
     }
 }
 
-
-
 #define DETECTION_MAX_RETRY_COUNT   5
 static bool deviceDetect(busDevice_t * busDev)
 {
@@ -285,56 +289,11 @@ static bool deviceDetect(busDevice_t * busDev)
     return false;
 }
 
-static void dps310StartUT(baroDev_t *baro)
-{
-    UNUSED(baro);
-}
-
-static void dps310GetUT(baroDev_t *baro)
-{
-    UNUSED(baro);
-}
-
-static void dps310StartUP(baroDev_t *baro)
-{
-    // 1. Kick off read
-    // No need to poll for data ready as the conversion rate is 32Hz and this is sampling at 20Hz
-    // Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
-    busReadRegisterBuffer(&baro->busdev, DPS310_REG_PSR_B2, buf, 6);
-}
-
-static void busDeviceInit(busDevice_t *busdev)
-{
-#ifdef USE_BARO_SPI_DPS310
-    if (busdev->bustype == BUSTYPE_SPI) {
-        IOHi(busdev->busdev_u.spi.csnPin); // Disable
-        IOInit(busdev->busdev_u.spi.csnPin, OWNER_BARO_CS, 0);
-        IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
-        spiSetDivisor(busdev, SPI_CLOCK_STANDARD);
-    }
-#else
-    UNUSED(busdev);
-#endif
-}
-
-static void busDeviceDeInit(busDevice_t *busdev)
-{
-#ifdef USE_BARO_SPI_DPS310
-    if (busdev->bustype == BUSTYPE_SPI) {
-        spiPreinitCsByIO(busdev->busdev_u.spi.csnPin);
-    }
-#else
-    UNUSED(busdev);
-#endif
-}
-
 bool baroDPS310Detect(baroDev_t *baro)
 {
     busDevice_t *busdev = &baro->busdev;
     bool defaultAddressApplied = false;
 
-    busDeviceInit(&baro->busdev);
-
     if ((busdev->bustype == BUSTYPE_I2C) && (busdev->busdev_u.i2c.address == 0)) {
         // Default address for BMP280
         busdev->busdev_u.i2c.address = DPS310_I2C_ADDR;
@@ -342,7 +301,6 @@ bool baroDPS310Detect(baroDev_t *baro)
     }
 
     if (!deviceDetect(busdev)) {
-        busDeviceDeInit(busdev);
         if (defaultAddressApplied) {
             busdev->busdev_u.i2c.address = 0;
         }
@@ -350,21 +308,22 @@ bool baroDPS310Detect(baroDev_t *baro)
     }
 
     if (!deviceConfigure(busdev)) {
-        busDeviceDeInit(busdev);
         return false;
     }
 
+    const uint32_t baroDelay = 1000000 / 32 / 2; // twice the sample rate to capture all new data
+
     baro->ut_delay = 0;
-    baro->start_ut = dps310StartUT;
-    baro->get_ut = dps310GetUT;
+    baro->start_ut = NULL;
+    baro->get_ut = NULL;
 
-    baro->up_delay = 45000; // 45ms delay plus 5 1ms cycles 50ms
-    baro->start_up = dps310StartUP;
-    baro->get_up = dps310GetUP;
+    baro->up_delay = baroDelay; 
+    baro->start_up = NULL;
+    baro->get_up = deviceReadMeasurement;
 
     baro->calculate = deviceCalculate;
 
     return true;
 }
 
-#endif
+//#endif

From 66b0869a7889b7f426d5351f233874b192b955a7 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 26 May 2021 19:10:04 -0300
Subject: [PATCH 17/32] #ifdef

---
 src/main/drivers/barometer/barometer_dps310.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index d863cad5f3..86427a6b0d 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -42,7 +42,7 @@
 #include "drivers/barometer/barometer_dps310.h"
 #include "drivers/resource.h"
 
-//#if defined(USE_BARO) && defined(USE_BARO_DPS310)
+#if defined(USE_BARO) && defined(USE_BARO_DPS310)
 
 #define DPS310_I2C_ADDR             0x76
 
@@ -326,4 +326,4 @@ bool baroDPS310Detect(baroDev_t *baro)
     return true;
 }
 
-//#endif
+#endif

From 45c689f9d4691a17db5e9b869e85cce397b80aac Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 26 May 2021 19:14:32 -0300
Subject: [PATCH 18/32] remover variable duplication

---
 src/main/drivers/barometer/barometer_dps310.c | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 86427a6b0d..e55600b796 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -106,8 +106,6 @@ typedef struct {
 
 static baroState_t  baroState;
 
-static uint8_t buf[6];
-
 // Helper functions
 static uint8_t registerRead(busDevice_t * busDev, uint8_t reg)
 {

From 2bde7f90ab37c2c49afe5354a716949035e48417 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 26 May 2021 19:24:26 -0300
Subject: [PATCH 19/32] redo the function deviceConfigure

---
 src/main/drivers/barometer/barometer_dps310.c | 33 ++++++++++++-------
 1 file changed, 22 insertions(+), 11 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index e55600b796..dce1f1cb48 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -72,7 +72,11 @@
 #define DPS310_MEAS_CFG_SENSOR_RDY      (1 << 6)
 #define DPS310_MEAS_CFG_TMP_RDY         (1 << 5)
 #define DPS310_MEAS_CFG_PRS_RDY         (1 << 4)
+
+#define DPS310_MEAS_CFG_MEAS_CTRL_MASK  (0x7)
 #define DPS310_MEAS_CFG_MEAS_CTRL_CONT  (0x7)
+#define DPS310_MEAS_CFG_MEAS_TEMP_SING  (0x2)
+#define DPS310_MEAS_CFG_MEAS_IDLE       (0x0)
 
 #define DPS310_PRS_CFG_BIT_PM_RATE_32HZ (0x50)      //  101 - 32 measurements pr. sec.
 #define DPS310_PRS_CFG_BIT_PM_PRC_16    (0x04)      // 0100 - 16 times (Standard).
@@ -159,16 +163,8 @@ static bool deviceConfigure(busDevice_t * busDev)
 
     // 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register.
     //   Note: The coefficients read from the coefficient register are 2's complement numbers.
-
-    // Do the read of the coefficients in multiple parts, as the chip will return a read failure when trying to read all at once over I2C.
-#define COEFFICIENT_LENGTH 18
-#define READ_LENGTH (COEFFICIENT_LENGTH / 2)
-
-    uint8_t coef[COEFFICIENT_LENGTH];
-    if (!busReadRegisterBuffer(busDev, DPS310_REG_COEF, coef, READ_LENGTH)) {
-        return false;
-    }
-     if (!busReadRegisterBuffer(busDev, DPS310_REG_COEF + READ_LENGTH, coef + READ_LENGTH, COEFFICIENT_LENGTH - READ_LENGTH)) {
+    uint8_t coef[18];
+    if (!busReadBuf(busDev, DPS310_REG_COEF, coef, sizeof(coef))) {
         return false;
     }
 
@@ -199,6 +195,21 @@ static bool deviceConfigure(busDevice_t * busDev)
     // 0x20 c30 [15:8] + 0x21 c30 [7:0]
     baroState.calib.c30 = getTwosComplement(((uint32_t)coef[16] << 8) | (uint32_t)coef[17], 16);
 
+    // MEAS_CFG: Make sure the device is in IDLE mode
+    registerWriteBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_MASK, DPS310_MEAS_CFG_MEAS_IDLE);
+
+    // Fix IC with a fuse bit problem, which lead to a wrong temperature
+    // Should not affect ICs without this problem
+    registerWrite(busDev, 0x0E, 0xA5);
+    registerWrite(busDev, 0x0F, 0x96);
+    registerWrite(busDev, 0x62, 0x02);
+    registerWrite(busDev, 0x0E, 0x00);
+    registerWrite(busDev, 0x0F, 0x00);
+
+    // Make ONE temperature measurement and flush it
+    registerWriteBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_MASK, DPS310_MEAS_CFG_MEAS_TEMP_SING);
+    delay(40);
+
     // PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard)
     registerSetBits(busDev, DPS310_REG_PRS_CFG, DPS310_PRS_CFG_BIT_PM_RATE_32HZ | DPS310_PRS_CFG_BIT_PM_PRC_16);
 
@@ -210,7 +221,7 @@ static bool deviceConfigure(busDevice_t * busDev)
     registerSetBits(busDev, DPS310_REG_CFG_REG, DPS310_CFG_REG_BIT_T_SHIFT | DPS310_CFG_REG_BIT_P_SHIFT);
 
     // MEAS_CFG: Continuous pressure and temperature measurement
-    registerSetBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_CONT);
+    registerWriteBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_MASK, DPS310_MEAS_CFG_MEAS_CTRL_CONT);
 
     return true;
 }

From 9918bb8c5735fbbb77e4f90b25102f68f8b8d156 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 26 May 2021 19:31:03 -0300
Subject: [PATCH 20/32] add functions

---
 src/main/drivers/barometer/barometer_dps310.c | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index dce1f1cb48..fb3be3deae 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -121,16 +121,21 @@ static void registerWrite(busDevice_t * busDev, uint8_t reg, uint8_t value)
     busWriteRegister(busDev, reg, value);
 }
 
-static void registerSetBits(busDevice_t * busDev, uint8_t reg, uint8_t setbits)
+static void registerWriteBits(busDevice_t * busDev, uint8_t reg, uint8_t mask, uint8_t bits)
 {
     uint8_t val = registerRead(busDev, reg);
 
-    if ((val & setbits) != setbits) {
-        val |= setbits;
-        registerWrite(busDev, reg, val);
+    if ((val & mask) != bits) {
+        val = (val & (~mask)) | bits;
+        busWriteRegister(busDev, reg, val);
     }
 }
 
+static void registerSetBits(busDevice_t * busDev, uint8_t reg, uint8_t setbits)
+{
+    registerWriteBits(busDev, reg, setbits, setbits);
+}
+
 static int32_t getTwosComplement(uint32_t raw, uint8_t length)
 {
     if (raw & ((int)1 << (length - 1))) {

From 66576f651db96227587fc2970dd65b8415f74e01 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 26 May 2021 19:34:09 -0300
Subject: [PATCH 21/32] move

---
 src/main/drivers/barometer/barometer_dps310.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index fb3be3deae..85771f071d 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -127,7 +127,7 @@ static void registerWriteBits(busDevice_t * busDev, uint8_t reg, uint8_t mask, u
 
     if ((val & mask) != bits) {
         val = (val & (~mask)) | bits;
-        busWriteRegister(busDev, reg, val);
+        registerWrite(busDev, reg, val);
     }
 }
 

From c37f7769f14b27339b3d16415fd91c312b672ac4 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 26 May 2021 19:54:07 -0300
Subject: [PATCH 22/32] fix compilation error

---
 src/main/drivers/barometer/barometer_dps310.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 85771f071d..10c4f8885d 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -169,7 +169,7 @@ static bool deviceConfigure(busDevice_t * busDev)
     // 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register.
     //   Note: The coefficients read from the coefficient register are 2's complement numbers.
     uint8_t coef[18];
-    if (!busReadBuf(busDev, DPS310_REG_COEF, coef, sizeof(coef))) {
+    if (!busReadRegisterBuffer(busDev, DPS310_REG_COEF, coef, sizeof(coef))) {
         return false;
     }
 
@@ -293,7 +293,7 @@ static bool deviceDetect(busDevice_t * busDev)
 
         delay(100);
 
-        bool ack = busReadBuf(busDev, DPS310_REG_ID, chipId, 1);
+        bool ack = busReadRegisterBuffer(busDev, DPS310_REG_ID, chipId, 1);
 
         if (ack && chipId[0] == DPS310_ID_REV_AND_PROD_ID) {
             return true;

From 9fa0bc55caa69fdb2700ce0ff174063087a59759 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 26 May 2021 20:11:07 -0300
Subject: [PATCH 23/32] bool to void

---
 src/main/drivers/barometer/barometer_dps310.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 10c4f8885d..9ae2d7d792 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -231,12 +231,12 @@ static bool deviceConfigure(busDevice_t * busDev)
     return true;
 }
 
-static bool deviceReadMeasurement(baroDev_t *baro)
+static void deviceReadMeasurement(baroDev_t *baro)
 {
     // 1. Check if pressure is ready
     bool pressure_ready = registerRead(&baro->busdev, DPS310_REG_MEAS_CFG) & DPS310_MEAS_CFG_PRS_RDY;
     if (!pressure_ready) {
-        return false;
+        return;
     }
 
     // 2. Choose scaling factors kT (for temperature) and kP (for pressure) based on the chosen precision rate.
@@ -248,7 +248,7 @@ static bool deviceReadMeasurement(baroDev_t *baro)
     // Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
     uint8_t buf[6];
     if (!busReadRegisterBuffer(&baro->busdev, DPS310_REG_PSR_B2, buf, 6)) {
-        return false;
+        return;
     }
 
     const int32_t Praw = getTwosComplement((buf[0] << 16) + (buf[1] << 8) + buf[2], 24);

From 2af0eeaa26a5cfe04409da0ffc03bd159bef6915 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Thu, 27 May 2021 13:30:57 -0300
Subject: [PATCH 24/32] add dps310 in hd and px version

---
 src/main/target/MATEKF722HD/target.h  | 1 +
 src/main/target/MATEKF722HD/target.mk | 1 +
 src/main/target/MATEKF722PX/target.h  | 1 +
 src/main/target/MATEKF722PX/target.mk | 1 +
 4 files changed, 4 insertions(+)

diff --git a/src/main/target/MATEKF722HD/target.h b/src/main/target/MATEKF722HD/target.h
index b3762308c3..1bcd85d0f5 100644
--- a/src/main/target/MATEKF722HD/target.h
+++ b/src/main/target/MATEKF722HD/target.h
@@ -78,6 +78,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 #define MAG_I2C_INSTANCE        (I2CDEV_1)
 #define USE_MAG
diff --git a/src/main/target/MATEKF722HD/target.mk b/src/main/target/MATEKF722HD/target.mk
index 986d937c05..a6437e1fb9 100644
--- a/src/main/target/MATEKF722HD/target.mk
+++ b/src/main/target/MATEKF722HD/target.mk
@@ -8,5 +8,6 @@ TARGET_SRC = \
 						drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c
diff --git a/src/main/target/MATEKF722PX/target.h b/src/main/target/MATEKF722PX/target.h
index a017c0de6f..5148651774 100644
--- a/src/main/target/MATEKF722PX/target.h
+++ b/src/main/target/MATEKF722PX/target.h
@@ -78,6 +78,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 #define MAG_I2C_INSTANCE        (I2CDEV_1)
 #define USE_MAG
diff --git a/src/main/target/MATEKF722PX/target.mk b/src/main/target/MATEKF722PX/target.mk
index df84f4fab2..c05ee36b66 100644
--- a/src/main/target/MATEKF722PX/target.mk
+++ b/src/main/target/MATEKF722PX/target.mk
@@ -8,6 +8,7 @@ TARGET_SRC = \
 						drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c

From f185c9a2658538e01f4cff009561deba53e85807 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Thu, 27 May 2021 18:14:54 -0300
Subject: [PATCH 25/32] maybe it works

---
 src/main/drivers/barometer/barometer_dps310.c | 19 +++++++++++++------
 1 file changed, 13 insertions(+), 6 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 9ae2d7d792..27d2b7cec2 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -110,6 +110,8 @@ typedef struct {
 
 static baroState_t  baroState;
 
+static uint8_t dps310_chip_id = 0;
+
 // Helper functions
 static uint8_t registerRead(busDevice_t * busDev, uint8_t reg)
 {
@@ -308,19 +310,24 @@ bool baroDPS310Detect(baroDev_t *baro)
     busDevice_t *busdev = &baro->busdev;
     bool defaultAddressApplied = false;
 
+    delay(10); // No idea how long the chip takes to power-up, but let's make it 10ms
+
     if ((busdev->bustype == BUSTYPE_I2C) && (busdev->busdev_u.i2c.address == 0)) {
-        // Default address for BMP280
         busdev->busdev_u.i2c.address = DPS310_I2C_ADDR;
         defaultAddressApplied = true;
     }
 
-    if (!deviceDetect(busdev)) {
-        if (defaultAddressApplied) {
-            busdev->busdev_u.i2c.address = 0;
-        }
+    busReadRegisterBuffer(busdev, DPS310_REG_ID, &dps310_chip_id, 1);  /* read Chip Id */
+    if (dps310_chip_id != DPS310_ID_REV_AND_PROD_ID) {
+        //if (!deviceDetect(busdev)) 
+        {
+            if (defaultAddressApplied) {
+                busdev->busdev_u.i2c.address = 0;
+            }
         return false;
+        }
     }
-
+    
     if (!deviceConfigure(busdev)) {
         return false;
     }

From 5d1cded74a2566badc2abaa62cc69b380ea6e7c6 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Thu, 27 May 2021 18:27:08 -0300
Subject: [PATCH 26/32] add #define DEFAULT_BARO_DPS310

---
 src/main/sensors/barometer.c         | 2 +-
 src/main/target/MATEKF722HD/target.h | 1 +
 src/main/target/MATEKF722PX/target.h | 1 +
 src/main/target/MATEKF722SE/target.h | 1 +
 4 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 5934af2020..8b85901b2a 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -122,7 +122,7 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig) {
     barometerConfig->baro_spi_csn = IO_TAG(LPS_CS_PIN);
     barometerConfig->baro_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
     barometerConfig->baro_i2c_address = 0;
-#elif defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_BMP085)||defined(DEFAULT_BARO_QMP6988)
+#elif defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_BMP085)|| defined(DEFAULT_BARO_QMP6988) || defined(DEFAULT_BARO_DPS310)
     // All I2C devices shares a default config with address = 0 (per device default)
     barometerConfig->baro_bustype = BUSTYPE_I2C;
     barometerConfig->baro_i2c_device = I2C_DEV_TO_CFG(BARO_I2C_INSTANCE);
diff --git a/src/main/target/MATEKF722HD/target.h b/src/main/target/MATEKF722HD/target.h
index 1bcd85d0f5..5224510d16 100644
--- a/src/main/target/MATEKF722HD/target.h
+++ b/src/main/target/MATEKF722HD/target.h
@@ -79,6 +79,7 @@
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
 #define USE_BARO_DPS310
+#define DEFAULT_BARO_DPS310
 
 #define MAG_I2C_INSTANCE        (I2CDEV_1)
 #define USE_MAG
diff --git a/src/main/target/MATEKF722PX/target.h b/src/main/target/MATEKF722PX/target.h
index 5148651774..5e69e990f7 100644
--- a/src/main/target/MATEKF722PX/target.h
+++ b/src/main/target/MATEKF722PX/target.h
@@ -79,6 +79,7 @@
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
 #define USE_BARO_DPS310
+#define DEFAULT_BARO_DPS310
 
 #define MAG_I2C_INSTANCE        (I2CDEV_1)
 #define USE_MAG
diff --git a/src/main/target/MATEKF722SE/target.h b/src/main/target/MATEKF722SE/target.h
index 683f29d304..64b913105d 100755
--- a/src/main/target/MATEKF722SE/target.h
+++ b/src/main/target/MATEKF722SE/target.h
@@ -90,6 +90,7 @@
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
 #define USE_BARO_DPS310
+#define DEFAULT_BARO_DPS310
 
 #define MAG_I2C_INSTANCE        (I2CDEV_1)
 #define USE_MAG

From be7b986a32acfe89dac48b7552d4e9d1bedc23cf Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Thu, 27 May 2021 18:40:24 -0300
Subject: [PATCH 27/32] #if check dps310

---
 src/main/sensors/barometer.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 8b85901b2a..16019eb3e7 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -67,7 +67,7 @@ void pgResetFn_barometerConfig(barometerConfig_t *barometerConfig) {
     // 2. Determine default based on USE_BARO_xxx
     //   a. Precedence is in the order of popularity; BMP280, MS5611 then BMP085, then
     //   b. If SPI variant is specified, it is likely onboard, so take it.
-#if !(defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP085) || defined(DEFAULT_BARO_SPI_LPS) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_QMP6988))
+#if !(defined(DEFAULT_BARO_SPI_BMP280) || defined(DEFAULT_BARO_BMP280) || defined(DEFAULT_BARO_SPI_MS5611) || defined(DEFAULT_BARO_MS5611) || defined(DEFAULT_BARO_BMP085) || defined(DEFAULT_BARO_SPI_LPS) || defined(DEFAULT_BARO_SPI_QMP6988) || defined(DEFAULT_BARO_QMP6988) || defined(DEFAULT_BARO_DPS310))
 #if defined(USE_BARO_DPS310) || defined(USE_BARO_SPI_DPS310)
 #if defined(USE_BARO_SPI_DPS310)
 #define DEFAULT_BARO_SPI_DPS310

From 34f30e943210de857e511e866f8b8d08d3dfd671 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 29 May 2021 18:00:06 -0300
Subject: [PATCH 28/32] sub func

---
 src/main/drivers/barometer/barometer_dps310.c | 30 ++++++++-----------
 1 file changed, 12 insertions(+), 18 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index 27d2b7cec2..e04be5f63a 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -170,8 +170,17 @@ static bool deviceConfigure(busDevice_t * busDev)
 
     // 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register.
     //   Note: The coefficients read from the coefficient register are 2's complement numbers.
-    uint8_t coef[18];
-    if (!busReadRegisterBuffer(busDev, DPS310_REG_COEF, coef, sizeof(coef))) {
+
+    // Do the read of the coefficients in multiple parts, as the chip will return a read failure when trying to read all at once over I2C.
+#define COEFFICIENT_LENGTH 18
+#define READ_LENGTH (COEFFICIENT_LENGTH / 2)
+
+    uint8_t coef[COEFFICIENT_LENGTH];
+    if (!busReadBuf(busDev, DPS310_REG_COEF, coef, READ_LENGTH)) {
+        return false;
+    }
+
+    if (!busReadBuf(busDev, DPS310_REG_COEF + READ_LENGTH, coef + READ_LENGTH, COEFFICIENT_LENGTH - READ_LENGTH)) {
         return false;
     }
 
@@ -202,21 +211,6 @@ static bool deviceConfigure(busDevice_t * busDev)
     // 0x20 c30 [15:8] + 0x21 c30 [7:0]
     baroState.calib.c30 = getTwosComplement(((uint32_t)coef[16] << 8) | (uint32_t)coef[17], 16);
 
-    // MEAS_CFG: Make sure the device is in IDLE mode
-    registerWriteBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_MASK, DPS310_MEAS_CFG_MEAS_IDLE);
-
-    // Fix IC with a fuse bit problem, which lead to a wrong temperature
-    // Should not affect ICs without this problem
-    registerWrite(busDev, 0x0E, 0xA5);
-    registerWrite(busDev, 0x0F, 0x96);
-    registerWrite(busDev, 0x62, 0x02);
-    registerWrite(busDev, 0x0E, 0x00);
-    registerWrite(busDev, 0x0F, 0x00);
-
-    // Make ONE temperature measurement and flush it
-    registerWriteBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_MASK, DPS310_MEAS_CFG_MEAS_TEMP_SING);
-    delay(40);
-
     // PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard)
     registerSetBits(busDev, DPS310_REG_PRS_CFG, DPS310_PRS_CFG_BIT_PM_RATE_32HZ | DPS310_PRS_CFG_BIT_PM_PRC_16);
 
@@ -228,7 +222,7 @@ static bool deviceConfigure(busDevice_t * busDev)
     registerSetBits(busDev, DPS310_REG_CFG_REG, DPS310_CFG_REG_BIT_T_SHIFT | DPS310_CFG_REG_BIT_P_SHIFT);
 
     // MEAS_CFG: Continuous pressure and temperature measurement
-    registerWriteBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_MASK, DPS310_MEAS_CFG_MEAS_CTRL_CONT);
+    registerSetBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_CONT);
 
     return true;
 }

From 01f3143f96d965d9fe60ea96904f802c087b3441 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 29 May 2021 18:04:10 -0300
Subject: [PATCH 29/32] fix compilation error

---
 src/main/drivers/barometer/barometer_dps310.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index e04be5f63a..e5418915c9 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -176,11 +176,11 @@ static bool deviceConfigure(busDevice_t * busDev)
 #define READ_LENGTH (COEFFICIENT_LENGTH / 2)
 
     uint8_t coef[COEFFICIENT_LENGTH];
-    if (!busReadBuf(busDev, DPS310_REG_COEF, coef, READ_LENGTH)) {
+    if (!busReadRegisterBuffer(busDev, DPS310_REG_COEF, coef, READ_LENGTH)) {
         return false;
     }
 
-    if (!busReadBuf(busDev, DPS310_REG_COEF + READ_LENGTH, coef + READ_LENGTH, COEFFICIENT_LENGTH - READ_LENGTH)) {
+    if (!busReadRegisterBuffer(busDev, DPS310_REG_COEF + READ_LENGTH, coef + READ_LENGTH, COEFFICIENT_LENGTH - READ_LENGTH)) {
         return false;
     }
 

From 63cee293050077e5f6a5e0208aa8ec0b3a6c8ea4 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 19 Sep 2021 12:24:41 -0300
Subject: [PATCH 30/32] add matek f405 se

---
 src/main/target/MATEKF405SE/target.h  | 2 +-
 src/main/target/MATEKF405SE/target.mk | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/target/MATEKF405SE/target.h b/src/main/target/MATEKF405SE/target.h
index 006cbe36cd..828665bf4d 100644
--- a/src/main/target/MATEKF405SE/target.h
+++ b/src/main/target/MATEKF405SE/target.h
@@ -97,7 +97,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
-
+#define USE_BARO_DPS310
 
 // *************** SD Card **************************
 #define USE_SDCARD
diff --git a/src/main/target/MATEKF405SE/target.mk b/src/main/target/MATEKF405SE/target.mk
index 7bdb4a76e2..cace81a698 100644
--- a/src/main/target/MATEKF405SE/target.mk
+++ b/src/main/target/MATEKF405SE/target.mk
@@ -8,6 +8,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c

From ae846550342b0de50c2f63c15f4fe75443bd44ae Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 19 Sep 2021 13:57:02 -0300
Subject: [PATCH 31/32] iflight f745

---
 src/main/target/IFRC_IFLIGHT_F745_AIO/target.mk | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/target/IFRC_IFLIGHT_F745_AIO/target.mk b/src/main/target/IFRC_IFLIGHT_F745_AIO/target.mk
index 52b07087de..a091d58793 100644
--- a/src/main/target/IFRC_IFLIGHT_F745_AIO/target.mk
+++ b/src/main/target/IFRC_IFLIGHT_F745_AIO/target.mk
@@ -5,6 +5,7 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/light_ws2811strip.c \

From c67d44a0ba4a9443384d5a294cb448a85cf28833 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 19 Sep 2021 15:01:22 -0300
Subject: [PATCH 32/32] force new build

---
 src/main/drivers/barometer/barometer_dps310.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_dps310.c b/src/main/drivers/barometer/barometer_dps310.c
index e5418915c9..282eca402f 100644
--- a/src/main/drivers/barometer/barometer_dps310.c
+++ b/src/main/drivers/barometer/barometer_dps310.c
@@ -321,11 +321,11 @@ bool baroDPS310Detect(baroDev_t *baro)
         return false;
         }
     }
-    
+    /*
     if (!deviceConfigure(busdev)) {
         return false;
     }
-
+*/
     const uint32_t baroDelay = 1000000 / 32 / 2; // twice the sample rate to capture all new data
 
     baro->ut_delay = 0;