From 8eee888b3ebca0718b9c938302d91ae1c5cb901d Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Mon, 23 Nov 2015 12:25:10 -0200
Subject: [PATCH] AP_Baro: BMP085: move data-ready macro to a method

---
 libraries/AP_Baro/AP_Baro_BMP085.cpp | 25 ++++++++++++++++---------
 libraries/AP_Baro/AP_Baro_BMP085.h   |  1 +
 2 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
index 98392e7d87..09d5b6f8af 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -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;
+}
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.h b/libraries/AP_Baro/AP_Baro_BMP085.h
index 21a7e52a79..bbb3d61621 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.h
+++ b/libraries/AP_Baro/AP_Baro_BMP085.h
@@ -19,6 +19,7 @@ private:
     bool _read_pressure();
     void _read_temp();
     void _calculate();
+    bool _data_ready();
 
     uint8_t _instance;
     float _temp_sum;