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AP_Baro: BMP085: allow to easily change oversampling in BMP085

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This way it's possible to easily change it if a board requires.
This commit is contained in:
Lucas De Marchi 2015-07-11 16:12:01 -03:00
parent bd6e268122
commit 37e2f6c52e
1 changed files with 25 additions and 4 deletions
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29
libraries/AP_Baro/AP_Baro_BMP085.cpp
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@ -22,12 +22,16 @@
extern const AP_HAL::HAL &hal;
#define BMP085_OVERSAMPLING_ULTRALOWPOWER 0
#define BMP085_OVERSAMPLING_STANDARD 1
#define BMP085_OVERSAMPLING_HIGHRES 2
#define BMP085_OVERSAMPLING_ULTRAHIGHRES 3
#ifndef BMP085_EOC
#define BMP085_EOC -1
#endif
// oversampling 3 gives 26ms conversion time. We then average
#define OVERSAMPLING 3
#define OVERSAMPLING BMP085_OVERSAMPLING_ULTRAHIGHRES
AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_Baro_Backend(baro)
@ -136,7 +140,6 @@ void AP_Baro_BMP085::update(void)
// Send command to Read Pressure
void AP_Baro_BMP085::_cmd_read_pressure()
{
// Mode 0x34+(OVERSAMPLING << 6) is osrs=3 when OVERSAMPLING=3 => 25.5ms conversion time
_dev->write_register(0xF4, 0x34 + (OVERSAMPLING << 6));
_last_press_read_command_time = AP_HAL::millis();
}
@ -237,5 +240,23 @@ bool AP_Baro_BMP085::_data_ready()
return AP_HAL::millis() > _last_temp_read_command_time + 5;
}
return AP_HAL::millis() > _last_press_read_command_time + 26;
uint32_t conversion_time_msec;
switch (OVERSAMPLING) {
case BMP085_OVERSAMPLING_ULTRALOWPOWER:
conversion_time_msec = 5;
break;
case BMP085_OVERSAMPLING_STANDARD:
conversion_time_msec = 8;
break;
case BMP085_OVERSAMPLING_HIGHRES:
conversion_time_msec = 14;
break;
case BMP085_OVERSAMPLING_ULTRAHIGHRES:
conversion_time_msec = 26;
default:
break;
}
return AP_HAL::millis() > _last_press_read_command_time + conversion_time_msec;
}