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AP_Baro: fixed baro on NavIO

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don't use the 1kHz timer as it conflicts with other I2C devices
This commit is contained in:
Andrew Tridgell 2015-01-06 16:28:11 +11:00
parent b85001bf4a
commit 8359c082ca
3 changed files with 33 additions and 6 deletions
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5
libraries/AP_Baro/AP_Baro.cpp
View File

@ -248,14 +248,15 @@ void AP_Baro::init(void)
}
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611
{
drivers[0] = new AP_Baro_MS5611(*this, new AP_SerialBus_I2C(MS5611_I2C_ADDR));
drivers[0] = new AP_Baro_MS5611(*this, new AP_SerialBus_I2C(MS5611_I2C_ADDR), false);
_num_drivers = 1;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_SPI
{
drivers[0] = new AP_Baro_MS5611(*this,
new AP_SerialBus_SPI(AP_HAL::SPIDevice_MS5611,
AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH));
AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH),
true);
_num_drivers = 1;
}
#endif

29
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -154,12 +154,13 @@ void AP_SerialBus_I2C::sem_give()
/*
constructor
*/
AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial) :
AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer) :
AP_Baro_Backend(baro),
_serial(serial),
_updated(false),
_state(0),
_last_timer(0)
_last_timer(0),
_use_timer(use_timer)
{
_instance = _frontend.register_sensor();
_serial->init();
@ -195,7 +196,9 @@ AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial) :
_serial->sem_give();
hal.scheduler->register_timer_process( AP_HAL_MEMBERPROC(&AP_Baro_MS5611::_timer));
if (_use_timer) {
hal.scheduler->register_timer_process( AP_HAL_MEMBERPROC(&AP_Baro_MS5611::_timer));
}
}
/**
@ -310,6 +313,12 @@ void AP_Baro_MS5611::_timer(void)
void AP_Baro_MS5611::update()
{
if (!_use_timer) {
// if we're not using the timer then accumulate one more time
// to cope with the calibration loop and minimise lag
accumulate();
}
if (!_updated) {
return;
}
@ -370,3 +379,17 @@ void AP_Baro_MS5611::_calculate()
float temperature = (TEMP + 2000) * 0.01f;
_copy_to_frontend(_instance, pressure, temperature);
}
/*
Read the sensor from main code. This is only used for I2C MS5611 to
avoid conflicts on the semaphore from calling it in a timer, which
conflicts with the compass driver use of I2C
*/
void AP_Baro_MS5611::accumulate(void)
{
if (!_use_timer) {
// the timer isn't being called as a timer, so we need to call
// it in accumulate()
_timer();
}
}

5
libraries/AP_Baro/AP_Baro_MS5611.h
View File

@ -76,8 +76,9 @@ private:
class AP_Baro_MS5611 : public AP_Baro_Backend
{
public:
AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial);
AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
void update();
void accumulate();
private:
AP_SerialBus *_serial;
@ -96,6 +97,8 @@ private:
uint8_t _state;
uint32_t _last_timer;
bool _use_timer;
// Internal calibration registers
uint16_t C1,C2,C3,C4,C5,C6;
float D1,D2;