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https://github.com/ArduPilot/ardupilot
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AP_Baro: BMP085: follow coding style
- Spacing changes and variable renames to follow coding style - No need to initialize variables to 0, it's already done by our global new operator.
This commit is contained in:
Lucas De Marchi
Andrew Tridgell
parent
81a298c9c8
commit
c5e97129c1
@ -13,20 +13,15 @@
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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BMP085 barometer driver. Based on original code by Jordi Munoz and
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Jose Julio
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Substantially modified by Andrew Tridgell
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*/
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#include "AP_Baro_BMP085.h"
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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extern const AP_HAL::HAL &hal;
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#define BMP085_ADDRESS 0x77 //(0xEE >> 1)
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// 0xEE >> 1
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#define BMP085_ADDRESS 0x77
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#ifndef BMP085_EOC
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// No EOC connection from Baro
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@ -42,19 +37,8 @@ extern const AP_HAL::HAL& hal;
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// oversampling 3 gives 26ms conversion time. We then average
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#define OVERSAMPLING 3
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/*
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constructor
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*/
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AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro) :
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AP_Baro_Backend(baro),
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_instance(0),
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_temp_sum(0),
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_press_sum(0),
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_count(0),
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BMP085_State(0),
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ac1(0), ac2(0), ac3(0), b1(0), b2(0), mb(0), mc(0), md(0),
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ac4(0), ac5(0), ac6(0),
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_retry_time(0)
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AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro)
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: AP_Baro_Backend(baro)
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{
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uint8_t buff[22];
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@ -93,48 +77,48 @@ AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro) :
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_instance = _frontend.register_sensor();
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//Send a command to read Temp
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Command_ReadTemp();
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// Send a command to read temperature
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_cmd_read_temp();
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BMP085_State = 0;
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i2c_sem->give();
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}
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// Read the sensor. This is a state machine
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// acumulate a new sensor reading
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/*
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This is a state machine. Acumulate a new sensor reading.
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*/
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void AP_Baro_BMP085::accumulate(void)
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{
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// get pointer to i2c bus semaphore
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AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
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AP_HAL::Semaphore *i2c_sem = hal.i2c->get_semaphore();
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if (!BMP_DATA_READY()) {
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return;
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}
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// take i2c bus sempahore
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if (!i2c_sem->take(1))
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if (!i2c_sem->take(1)) {
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return;
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}
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if (BMP085_State == 0) {
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ReadTemp();
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} else {
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if (ReadPress()) {
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Calculate();
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}
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_read_temp();
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} else if (_read_pressure()) {
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_calculate();
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}
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BMP085_State++;
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if (BMP085_State == 5) {
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BMP085_State = 0;
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Command_ReadTemp();
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_cmd_read_temp();
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} else {
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Command_ReadPress();
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_cmd_read_pressure();
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}
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i2c_sem->give();
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}
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/*
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transfer data to the frontend
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*/
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@ -158,16 +142,16 @@ void AP_Baro_BMP085::update(void)
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}
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// Send command to Read Pressure
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void AP_Baro_BMP085::Command_ReadPress()
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void AP_Baro_BMP085::_cmd_read_pressure()
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{
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// Mode 0x34+(OVERSAMPLING << 6) is osrs=3 when OVERSAMPLING=3 => 25.5ms conversion time
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hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4,
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0x34+(OVERSAMPLING << 6));
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0x34 + (OVERSAMPLING << 6));
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_last_press_read_command_time = AP_HAL::millis();
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}
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// Read Raw Pressure values
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bool AP_Baro_BMP085::ReadPress()
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// Read raw pressure values
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bool AP_Baro_BMP085::_read_pressure()
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{
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uint8_t buf[3];
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@ -177,21 +161,21 @@ bool AP_Baro_BMP085::ReadPress()
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return false;
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}
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RawPress = (((uint32_t)buf[0] << 16)
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| ((uint32_t)buf[1] << 8)
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| ((uint32_t)buf[2])) >> (8 - OVERSAMPLING);
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_raw_pressure = (((uint32_t)buf[0] << 16)
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| ((uint32_t)buf[1] << 8)
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| ((uint32_t)buf[2])) >> (8 - OVERSAMPLING);
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return true;
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}
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// Send Command to Read Temperature
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void AP_Baro_BMP085::Command_ReadTemp()
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void AP_Baro_BMP085::_cmd_read_temp()
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{
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hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4, 0x2E);
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_last_temp_read_command_time = AP_HAL::millis();
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}
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// Read Raw Temperature values
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void AP_Baro_BMP085::ReadTemp()
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// Read raw temperature values
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void AP_Baro_BMP085::_read_temp()
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{
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uint8_t buf[2];
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int32_t _temp_sensor;
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@ -203,12 +187,11 @@ void AP_Baro_BMP085::ReadTemp()
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_temp_sensor = buf[0];
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_temp_sensor = (_temp_sensor << 8) | buf[1];
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RawTemp = _temp_sensor;
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_raw_temp = _temp_sensor;
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}
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// Calculate Temperature and Pressure in real units.
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void AP_Baro_BMP085::Calculate()
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// _calculate Temperature and Pressure in real units.
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void AP_Baro_BMP085::_calculate()
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{
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int32_t x1, x2, x3, b3, b5, b6, p;
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uint32_t b4, b7;
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@ -217,7 +200,7 @@ void AP_Baro_BMP085::Calculate()
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// See Datasheet page 13 for this formulas
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// Based also on Jee Labs BMP085 example code. Thanks for share.
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// Temperature calculations
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x1 = ((int32_t)RawTemp - ac6) * ac5 >> 15;
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x1 = ((int32_t)_raw_temp - ac6) * ac5 >> 15;
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x2 = ((int32_t) mc << 11) / (x1 + md);
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b5 = x1 + x2;
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_temp_sum += (b5 + 8) >> 4;
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@ -236,7 +219,7 @@ void AP_Baro_BMP085::Calculate()
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x2 = (b1 * (b6 * b6 >> 12)) >> 16;
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x3 = ((x1 + x2) + 2) >> 2;
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b4 = (ac4 * (uint32_t) (x3 + 32768)) >> 15;
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b7 = ((uint32_t) RawPress - b3) * (50000 >> OVERSAMPLING);
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b7 = ((uint32_t) _raw_pressure - b3) * (50000 >> OVERSAMPLING);
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p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
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x1 = (p >> 8) * (p >> 8);
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@ -14,29 +14,29 @@ public:
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void accumulate(void);
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private:
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uint8_t _instance;
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float _temp_sum;
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float _press_sum;
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uint8_t _count;
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void _cmd_read_pressure();
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void _cmd_read_temp();
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bool _read_pressure();
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void _read_temp();
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void _calculate();
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// Flymaple has no EOC pin, so use times instead
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uint32_t _last_press_read_command_time;
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uint32_t _last_temp_read_command_time;
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uint8_t _instance;
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float _temp_sum;
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float _press_sum;
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uint8_t _count;
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// Boards with no EOC pin: use times instead
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uint32_t _last_press_read_command_time;
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uint32_t _last_temp_read_command_time;
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// State machine
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uint8_t BMP085_State;
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uint8_t BMP085_State;
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// Internal calibration registers
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int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
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uint16_t ac4, ac5, ac6;
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int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
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uint16_t ac4, ac5, ac6;
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uint32_t _retry_time;
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int32_t RawPress;
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int32_t RawTemp;
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void Command_ReadPress();
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void Command_ReadTemp();
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bool ReadPress();
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void ReadTemp();
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void Calculate();
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uint32_t _retry_time;
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int32_t _raw_pressure;
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int32_t _raw_temp;
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};
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