AP_Baro: fixed BMP085 driver for current API

libraries/AP_Baro/AP_Baro_BMP085.cpp

@@ -33,11 +33,33 @@ extern const AP_HAL::HAL &hal;
 #define OVERSAMPLING BMP085_OVERSAMPLING_HIGHRES
 #endif
 
-AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
+AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
     : AP_Baro_Backend(baro)
     , _dev(std::move(dev))
+{ }
+
+AP_Baro_Backend * AP_Baro_BMP085::probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) 
 {
-    uint8_t buff[22];
+
+    if (!dev) {
+        return nullptr;
+    }
+
+    AP_Baro_BMP085 *sensor = new AP_Baro_BMP085(baro, std::move(dev));
+    if (!sensor || !sensor->_init()) {
+        delete sensor;
+        return nullptr;
+    }
+    return sensor;
+    
+}
+
+bool AP_Baro_BMP085::_init()
+{
+    union {
+        uint8_t buff[22];
+        uint16_t wb[11];
+    } bb;
 
     // get pointer to i2c bus semaphore
     AP_HAL::Semaphore *sem = _dev->get_semaphore();
@@ -52,36 +74,99 @@ AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice>
         _eoc->mode(HAL_GPIO_INPUT);
     }
 
+
+    uint8_t id;
+    
+    if (!_dev->read_registers(0xD0, &id, 1)) {
+        sem->give();
+        return false;
+    }
+    
+    if(id!=0x55) return false; // not BMP180 
+
+
+    _dev->read_registers(0xD1, &_vers, 1);
+
+    bool prom_ok=false;
+    _type=0;
+
     // We read the calibration data registers
-    if (!_dev->read_registers(0xAA, buff, sizeof(buff))) {
+    if (_dev->read_registers(0xAA, bb.buff, sizeof(bb.buff))) {
-        AP_HAL::panic("BMP085: bad calibration registers");
+        prom_ok=true;
+        
     }
 
-    ac1 = ((int16_t)buff[0] << 8) | buff[1];
+    if(!prom_ok){
-    ac2 = ((int16_t)buff[2] << 8) | buff[3];
+        if(_read_prom((uint16_t *)&bb.wb[0]))  { // BMP180 requires reads by 2 bytes
-    ac3 = ((int16_t)buff[4] << 8) | buff[5];
+            prom_ok=true;
-    ac4 = ((int16_t)buff[6] << 8) | buff[7];
+            _type=1;
-    ac5 = ((int16_t)buff[8] << 8) | buff[9];
+        }
-    ac6 = ((int16_t)buff[10] << 8) | buff[11];
+    }    
-    b1 = ((int16_t)buff[12] << 8) | buff[13];
+    if(!prom_ok){
-    b2 = ((int16_t)buff[14] << 8) | buff[15];
+        sem->give();
-    mb = ((int16_t)buff[16] << 8) | buff[17];
+        return false;
-    mc = ((int16_t)buff[18] << 8) | buff[19];
+    }
-    md = ((int16_t)buff[20] << 8) | buff[21];
+
+    ac1 = ((int16_t)bb.buff[0] << 8) | bb.buff[1];
+    ac2 = ((int16_t)bb.buff[2] << 8) | bb.buff[3];
+    ac3 = ((int16_t)bb.buff[4] << 8) | bb.buff[5];
+    ac4 = ((int16_t)bb.buff[6] << 8) | bb.buff[7];
+    ac5 = ((int16_t)bb.buff[8] << 8) | bb.buff[9];
+    ac6 = ((int16_t)bb.buff[10]<< 8) | bb.buff[11];
+    b1 = ((int16_t)bb.buff[12] << 8) | bb.buff[13];
+    b2 = ((int16_t)bb.buff[14] << 8) | bb.buff[15];
+    mb = ((int16_t)bb.buff[16] << 8) | bb.buff[17];
+    mc = ((int16_t)bb.buff[18] << 8) | bb.buff[19];
+    md = ((int16_t)bb.buff[20] << 8) | bb.buff[21];
+    
+    if( (ac1==0 || ac1==-1) ||
+        (ac2==0 || ac2==-1) ||
+        (ac3==0 || ac3==-1) ||
+        (ac4==0 || ac4==0xFFFF) ||
+        (ac5==0 || ac5==0xFFFF) ||
+        (ac6==0 || ac6==0xFFFF) ) return false;
 
     _last_press_read_command_time = 0;
     _last_temp_read_command_time = 0;
 
-    _instance = _frontend.register_sensor();
-
     // Send a command to read temperature
     _cmd_read_temp();
 
     _state = 0;
 
+    _instance = _frontend.register_sensor();
+
     sem->give();
 
     _dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP085::_timer, void));
+    return true;
+}
+
+uint16_t AP_Baro_BMP085::_read_prom_word(uint8_t word)
+{
+    const uint8_t reg = 0xAA + (word << 1);
+    uint8_t val[2];
+    if (!_dev->transfer(&reg, 1, val, sizeof(val))) {
+        return 0;
+    }
+    return (val[0] << 8) | val[1];
+}
+
+bool AP_Baro_BMP085::_read_prom(uint16_t *prom)
+{
+    bool all_zero = true;
+    for (uint8_t i = 0; i < 11; i++) {
+        prom[i] = _read_prom_word(i);
+        if (prom[i] != 0) {
+            all_zero = false;
+        }
+    }
+        
+    if (all_zero) {
+        return false;
+    }
+
+    return true;
 }
 
 /*
@@ -138,17 +223,24 @@ void AP_Baro_BMP085::_cmd_read_pressure()
 bool AP_Baro_BMP085::_read_pressure()
 {
     uint8_t buf[3];
-
+    if (_dev->read_registers(0xF6, buf, sizeof(buf))) {
-    if (!_dev->read_registers(0xF6, buf, sizeof(buf))) {
+        _raw_pressure = (((uint32_t)buf[0] << 16)
-        _retry_time = AP_HAL::millis() + 1000;
+                         | ((uint32_t)buf[1] << 8)
-        _dev->set_speed(AP_HAL::Device::SPEED_LOW);
+                         | ((uint32_t)buf[2])) >> (8 - OVERSAMPLING);
-        return false;
+        return true;
     }
 
-    _raw_pressure = (((uint32_t)buf[0] << 16)
+    uint8_t xlsb;
-                     | ((uint32_t)buf[1] << 8)
+    if (_dev->read_registers(0xF6, buf, 2) && _dev->read_registers(0xF8, &xlsb, 1) ) {
-                     | ((uint32_t)buf[2])) >> (8 - OVERSAMPLING);
+        _raw_pressure = (((uint32_t)buf[0] << 16)
-    return true;
+                       | ((uint32_t)buf[1] << 8)
+                       | ((uint32_t)xlsb)) >> (8 - OVERSAMPLING);
+        return true;
+    }
+
+    _last_press_read_command_time = AP_HAL::millis() + 1000;
+    _dev->set_speed(AP_HAL::Device::SPEED_LOW);
+    return false;
 }
 
 // Send Command to Read Temperature

libraries/AP_Baro/AP_Baro_BMP085.h

@@ -7,15 +7,24 @@
 
 #include "AP_Baro_Backend.h"
 
+#ifndef HAL_BARO_BMP085_I2C_ADDR
+ #define HAL_BARO_BMP085_I2C_ADDR        (0x77)
+#endif
+
 class AP_Baro_BMP085 : public AP_Baro_Backend
 {
 public:
-    AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+    AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
 
     /* AP_Baro public interface: */
     void update();
+    
+    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
+    
 
 private:
+    bool _init();
+
     void _cmd_read_pressure();
     void _cmd_read_temp();
     bool _read_pressure();
@@ -25,7 +34,11 @@ private:
 
     void _timer(void);
 
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
+    uint16_t _read_prom_word(uint8_t word);
+    bool     _read_prom(uint16_t *prom);
+
+
+    AP_HAL::OwnPtr<AP_HAL::Device> _dev;
     AP_HAL::DigitalSource *_eoc;
 
     uint8_t _instance;
@@ -42,9 +55,11 @@ private:
     int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
     uint16_t ac4, ac5, ac6;
 
-    uint32_t _retry_time;
     int32_t _raw_pressure;
     int32_t _raw_temp;
     int32_t _temp;
     AverageIntegralFilter<int32_t, int32_t, 10> _pressure_filter;
+    
+    uint8_t _vers;
+    uint8_t _type;    
 };