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AP_Baro: BMP085: move data-ready macro to a method

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This commit is contained in:
Lucas De Marchi 2015-11-23 12:25:10 -02:00 committed by Andrew Tridgell
parent c5e97129c1
commit 8eee888b3e
2 changed files with 17 additions and 9 deletions
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25
libraries/AP_Baro/AP_Baro_BMP085.cpp
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@ -24,14 +24,7 @@ extern const AP_HAL::HAL &hal;
#define BMP085_ADDRESS 0x77
#ifndef BMP085_EOC
// No EOC connection from Baro
// Use times instead.
// Temp conversion time is 4.5ms
// Pressure conversion time is 25.5ms (for OVERSAMPLING=3)
#define BMP085_EOC -1
#define BMP_DATA_READY() (BMP085_State == 0 ? AP_HAL::millis() > (_last_temp_read_command_time + 5) : AP_HAL::millis() > (_last_press_read_command_time + 26))
#else
#define BMP_DATA_READY() hal.gpio->read(BMP085_EOC)
#endif
// oversampling 3 gives 26ms conversion time. We then average
@ -93,7 +86,7 @@ void AP_Baro_BMP085::accumulate(void)
// get pointer to i2c bus semaphore
AP_HAL::Semaphore *i2c_sem = hal.i2c->get_semaphore();
if (!BMP_DATA_READY()) {
if (!_data_ready()) {
return;
}
@ -124,7 +117,7 @@ void AP_Baro_BMP085::accumulate(void)
*/
void AP_Baro_BMP085::update(void)
{
if (_count == 0 && BMP_DATA_READY()) {
if (_count == 0 && _data_ready()) {
accumulate();
}
if (_count == 0) {
@ -234,3 +227,17 @@ void AP_Baro_BMP085::_calculate()
_count /= 2;
}
}
bool AP_Baro_BMP085::_data_ready()
{
if (BMP085_EOC >= 0) {
return hal.gpio->read(BMP085_EOC);
}
// No EOC pin: use time from last read instead.
if (BMP085_State == 0) {
return AP_HAL::millis() > _last_temp_read_command_time + 5;
}
return AP_HAL::millis() > _last_press_read_command_time + 26;
}

1
libraries/AP_Baro/AP_Baro_BMP085.h
View File

@ -19,6 +19,7 @@ private:
bool _read_pressure();
void _read_temp();
void _calculate();
bool _data_ready();
uint8_t _instance;
float _temp_sum;