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AP_Baro: MS5611: always use timer thread

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Remove support to run MS5611 on main thread since we shouldn't be doing
I2C transactions there and we are moving to "thread per bus"
nonetheless.
This commit is contained in:
Lucas De Marchi 2016-07-15 16:17:16 -03:00
parent 7b7e73680f
commit 929348ff75
3 changed files with 17 additions and 47 deletions
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12
libraries/AP_Baro/AP_Baro.cpp
View File

@ -299,23 +299,19 @@ void AP_Baro::init(void)
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_I2C
drivers[0] = new AP_Baro_MS5611(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR)),
HAL_BARO_MS5611_USE_TIMER);
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR)));
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_SPI
drivers[0] = new AP_Baro_MS5611(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME)),
true);
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME)));
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5607_I2C
drivers[0] = new AP_Baro_MS5607(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
true);
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)));
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5637_I2C
drivers[0] = new AP_Baro_MS5637(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5637_I2C_BUS, HAL_BARO_MS5637_I2C_ADDR)),
true);
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5637_I2C_BUS, HAL_BARO_MS5637_I2C_ADDR)));
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_QFLIGHT
drivers[0] = new AP_Baro_QFLIGHT(*this);

41
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -51,10 +51,9 @@ static const uint8_t ADDR_CMD_CONVERT_TEMPERATURE = ADDR_CMD_CONVERT_D2_OSR1024;
/*
constructor
*/
AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Baro_Backend(baro)
, _dev(std::move(dev))
, _use_timer(use_timer)
{
}
@ -104,10 +103,8 @@ void AP_Baro_MS56XX::_init()
hal.scheduler->resume_timer_procs();
if (_use_timer) {
/* timer needs to be called every 10ms so set the freq_div to 10 */
_timesliced = hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Baro_MS56XX::_timer, void), 10);
}
/* timer needs to be called every 10ms so set the freq_div to 10 */
_timesliced = hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Baro_MS56XX::_timer, void), 10);
}
/**
@ -284,12 +281,6 @@ void AP_Baro_MS56XX::_timer(void)
void AP_Baro_MS56XX::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;
}
@ -316,8 +307,8 @@ void AP_Baro_MS56XX::update()
}
/* MS5611 class */
AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
: AP_Baro_MS56XX(baro, std::move(dev), use_timer)
AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Baro_MS56XX(baro, std::move(dev))
{
_init();
}
@ -358,8 +349,8 @@ void AP_Baro_MS5611::_calculate()
}
/* MS5607 Class */
AP_Baro_MS5607::AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
: AP_Baro_MS56XX(baro, std::move(dev), use_timer)
AP_Baro_MS5607::AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Baro_MS56XX(baro, std::move(dev))
{
_init();
}
@ -400,8 +391,8 @@ void AP_Baro_MS5607::_calculate()
}
/* MS5637 Class */
AP_Baro_MS5637::AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
: AP_Baro_MS56XX(baro, std::move(dev), use_timer)
AP_Baro_MS5637::AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Baro_MS56XX(baro, std::move(dev))
{
_init();
}
@ -438,17 +429,3 @@ void AP_Baro_MS5637::_calculate()
float temperature = TEMP * 0.01f;
_copy_to_frontend(_instance, (float)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_MS56XX::accumulate(void)
{
if (!_use_timer) {
// the timer isn't being called as a timer, so we need to call
// it in accumulate()
_timer();
}
}

11
libraries/AP_Baro/AP_Baro_MS5611.h
View File

@ -10,10 +10,9 @@ class AP_Baro_MS56XX : public AP_Baro_Backend
{
public:
void update();
void accumulate();
protected:
AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
void _init();
virtual void _calculate() = 0;
@ -35,8 +34,6 @@ protected:
uint32_t _last_timer;
bool _timesliced;
bool _use_timer;
// Internal calibration registers
uint16_t _c1,_c2,_c3,_c4,_c5,_c6;
float _D1, _D2;
@ -46,7 +43,7 @@ protected:
class AP_Baro_MS5611 : public AP_Baro_MS56XX
{
public:
AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
protected:
void _calculate();
};
@ -54,7 +51,7 @@ protected:
class AP_Baro_MS5607 : public AP_Baro_MS56XX
{
public:
AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
protected:
void _calculate();
};
@ -62,7 +59,7 @@ protected:
class AP_Baro_MS5637 : public AP_Baro_MS56XX
{
public:
AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
protected:
void _calculate();
bool _read_prom(uint16_t prom[8]) override;