mirror of https://github.com/ArduPilot/ardupilot
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
commit
7d1c7d706e
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@ -108,7 +108,9 @@ static void init_ardupilot()
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//
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#ifndef DESKTOP_BUILD
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I2c.begin();
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I2c.timeOut(20);
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I2c.timeOut(5);
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// initially set a fast I2c speed, and drop it on first failures
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I2c.setSpeed(true);
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#endif
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SPI.begin();
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SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate
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@ -108,7 +108,9 @@ static void init_ardupilot()
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//
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#ifndef DESKTOP_BUILD
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I2c.begin();
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I2c.timeOut(20);
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I2c.timeOut(5);
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// initially set a fast I2c speed, and drop it on first failures
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I2c.setSpeed(true);
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#endif
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SPI.begin();
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SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate
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@ -152,7 +152,13 @@ void AP_Baro_BMP085::ReadPress()
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{
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uint8_t buf[3];
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if (!healthy && millis() < _retry_time) {
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return;
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}
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if (I2c.read(BMP085_ADDRESS, 0xF6, 3, buf) != 0) {
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_retry_time = millis() + 1000;
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I2c.setSpeed(false);
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healthy = false;
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return;
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}
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@ -197,7 +203,13 @@ void AP_Baro_BMP085::ReadTemp()
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{
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uint8_t buf[2];
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if (!healthy && millis() < _retry_time) {
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return;
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}
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if (I2c.read(BMP085_ADDRESS, 0xF6, 2, buf) != 0) {
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_retry_time = millis() + 1000;
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I2c.setSpeed(false);
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healthy = false;
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return;
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}
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@ -50,6 +50,7 @@ class AP_Baro_BMP085 : public AP_Baro
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uint8_t _temp_index;
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uint8_t _press_index;
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uint32_t _retry_time;
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void Command_ReadPress();
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void Command_ReadTemp();
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@ -246,11 +246,20 @@ AP_Compass_HMC5843::init()
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// Read Sensor data
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bool AP_Compass_HMC5843::read()
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{
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if (!healthy && !re_initialise()) {
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return false;
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if (!healthy) {
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if (millis() < _retry_time) {
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return false;
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}
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if (!re_initialise()) {
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_retry_time = millis() + 1000;
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return false;
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}
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}
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if (!read_raw()) {
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// try again in 1 second, and set I2c clock speed slower
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_retry_time = millis() + 1000;
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I2c.setSpeed(false);
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return false;
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}
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@ -53,6 +53,7 @@ class AP_Compass_HMC5843 : public Compass
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virtual bool re_initialise(void);
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bool read_register(uint8_t address, uint8_t *value);
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bool write_register(uint8_t address, byte value);
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uint32_t _retry_time; // when unhealthy the millis() value to retry at
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public:
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AP_Compass_HMC5843(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {}
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@ -53,8 +53,6 @@ extern "C" {
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# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
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#endif
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#define DF_LAST_PAGE 8192
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// AT45DB321D Commands (from Datasheet)
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#define DF_TRANSFER_PAGE_TO_BUFFER_1 0x53
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#define DF_TRANSFER_PAGE_TO_BUFFER_2 0x55
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@ -133,8 +131,23 @@ void DataFlash_APM2::Init(void)
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// get page size: 512 or 528 (by default: 528)
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df_PageSize=PageSize();
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// the last page is reserved for config information
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df_NumPages = DF_LAST_PAGE - 1;
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ReadManufacturerID();
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// see page 22 of the spec for the density code
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uint8_t density_code = (df_device >> 8) & 0x1F;
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// note that we set df_NumPages to one lower than the highest, as
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// the last page is reserved for a config page
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if (density_code == 0x7) {
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// 32 Mbit
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df_NumPages = 8191;
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} else if (density_code == 0x6) {
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// 16 Mbit
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df_NumPages = 4095;
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} else {
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// what is this??? card not inserted perhaps?
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df_NumPages = 0;
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}
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}
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// This function is mainly to test the device
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@ -155,7 +168,7 @@ void DataFlash_APM2::ReadManufacturerID()
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// This function return 1 if Card is inserted on SD slot
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bool DataFlash_APM2::CardInserted()
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{
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return (digitalRead(DF_CARDDETECT) == 0);
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return (df_NumPages >= 4095 && digitalRead(DF_CARDDETECT) == 0);
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}
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// Read the status register
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