ardupilot/libraries/AP_Baro/AP_Baro_QURT.cpp

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2015-12-09 16:39:29 -04:00
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it 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 program 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/>.
*/
#include "AP_Baro_QURT.h"
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
extern const AP_HAL::HAL &hal;
AP_Baro_QURT::AP_Baro_QURT(AP_Baro &baro)
: AP_Baro_Backend(baro)
{
instance = _frontend.register_sensor();
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Baro_QURT::timer, void));
}
/*
transfer data to the frontend
*/
void AP_Baro_QURT::update(void)
{
if (count == 0) {
return;
}
if (lock.take(1)) {
float temperature = temp_sum / count;
float pressure = press_sum / count;
count = 0;
temp_sum = 0;
press_sum = 0;
_copy_to_frontend(instance, pressure, temperature);
lock.give();
}
}
void AP_Baro_QURT::timer(void)
{
if (handle == 0) {
int ret = bmp280_open("/dev/i2c-2", &handle);
if (ret != 0) {
AP_HAL::panic("unable to open QURT baro");
return;
}
last_timer_ms = AP_HAL::millis();
return;
}
if (AP_HAL::millis() - last_timer_ms < 10) {
return;
}
if (lock.take(1)) {
last_timer_ms = AP_HAL::millis();
struct bmp280_sensor_data data;
int ret = bmp280_get_sensor_data(handle, &data, false);
if (ret != 0 || data.sensor_read_counter == last_counter) {
lock.give();
return;
}
last_counter = data.sensor_read_counter;
temp_sum += data.temperature_in_c;
press_sum += data.pressure_in_pa;
count++;
lock.give();
}
}
#endif // CONFIG_HAL_BOARD