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AP_Baro: enable BMP085 on Linux

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This commit is contained in:
Andrew Tridgell 2013-09-28 20:38:37 +10:00
parent 20d1ddb5ba
commit 8a699f6189
2 changed files with 11 additions and 18 deletions
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15
libraries/AP_Baro/AP_Baro_BMP085.cpp
View File

@ -49,28 +49,25 @@
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_HAL.h> #include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE || defined(APM2_BETA_HARDWARE)
#include "AP_Baro_BMP085.h" #include "AP_Baro_BMP085.h"
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define BMP085_ADDRESS 0x77 //(0xEE >> 1) #define BMP085_ADDRESS 0x77 //(0xEE >> 1)
#define BMP085_EOC 30 // End of conversion pin PC7 #define BMP085_EOC 30 // End of conversion pin PC7 on APM1
// the apm2 hardware needs to check the state of the // the apm2 hardware needs to check the state of the
// chip using a direct IO port // chip using a direct IO port
// On APM2 prerelease hw, the data ready port is hooked up to PE7, which // On APM2 prerelease hw, the data ready port is hooked up to PE7, which
// is not available to the arduino digitalRead function. // is not available to the arduino digitalRead function.
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#define BMP_DATA_READY() (PINE&0x80) #define BMP_DATA_READY() hal.gpio->read(BMP085_EOC)
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE #else
// No EOC connection from Baro on Flymaple // No EOC connection from Baro
// Use times instead. // Use times instead.
// Temp conversion time is 4.5ms // Temp conversion time is 4.5ms
// Pressure conversion time is 25.5ms (for OVERSAMPLING=3) // Pressure conversion time is 25.5ms (for OVERSAMPLING=3)
#define BMP_DATA_READY() (BMP085_State == 0 ? hal.scheduler->millis() > (_last_temp_read_command_time + 5) : hal.scheduler->millis() > (_last_press_read_command_time + 26)) #define BMP_DATA_READY() (BMP085_State == 0 ? hal.scheduler->millis() > (_last_temp_read_command_time + 5) : hal.scheduler->millis() > (_last_press_read_command_time + 26))
#else
#define BMP_DATA_READY() hal.gpio->read(BMP085_EOC)
#endif #endif
// oversampling 3 gives 26ms conversion time. We then average // oversampling 3 gives 26ms conversion time. We then average
@ -280,4 +277,4 @@ void AP_Baro_BMP085::Calculate()
_count /= 2; _count /= 2;
} }
} }
#endif // CONFIG_HAL_BOARD

14
libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde
View File

@ -19,8 +19,10 @@
#include <AP_Notify.h> #include <AP_Notify.h>
#include <AP_HAL_AVR.h> #include <AP_HAL_AVR.h>
#include <AP_HAL_FLYMAPLE.h>
#include <AP_HAL_Linux.h>
#include <AP_HAL_Empty.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
/* Build this example sketch only for the APM1. */ /* Build this example sketch only for the APM1. */
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
@ -49,7 +51,7 @@ void loop()
static uint32_t last_print; static uint32_t last_print;
// accumulate values at 100Hz // accumulate values at 100Hz
if ((hal.scheduler->micros()- timer) > 20000L) { if ((hal.scheduler->micros()- timer) > 10000L) {
bmp085.accumulate(); bmp085.accumulate();
timer = hal.scheduler->micros(); timer = hal.scheduler->micros();
} }
@ -78,13 +80,7 @@ void loop()
(unsigned)bmp085.get_pressure_samples()); (unsigned)bmp085.get_pressure_samples());
hal.console->println(); hal.console->println();
} }
hal.scheduler->delay(1);
} }
#else // Non-APM1
#warning AP_Baro_BMP085_test built as stub for APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
void setup() {}
void loop() {}
#endif
AP_HAL_MAIN(); AP_HAL_MAIN();