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AP_Baro : Add init( AP_PeriodicProcess * ) method to interface & implementations

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AP_Baro_MS5611 and AP_Baro_BMP085 implement the interface, with stubs only
This commit is contained in:
Pat Hickey 2011-12-08 22:33:00 -08:00
parent a626e21e98
commit d026e48032
4 changed files with 11 additions and 5 deletions
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3
libraries/AP_Baro/AP_Baro.h
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@ -2,10 +2,13 @@
#ifndef __AP_BARO_H__ #ifndef __AP_BARO_H__
#define __AP_BARO_H__ #define __AP_BARO_H__
#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
class AP_Baro class AP_Baro
{ {
public: public:
AP_Baro() {} AP_Baro() {}
virtual void init(AP_PeriodicProcess *scheduler)=0;
virtual uint8_t read() = 0; virtual uint8_t read() = 0;
virtual int32_t get_pressure() = 0; virtual int32_t get_pressure() = 0;
virtual int16_t get_temperature() = 0; virtual int16_t get_temperature() = 0;

10
libraries/AP_Baro/AP_Baro_BMP085.cpp
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@ -55,7 +55,7 @@ extern "C" {
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
bool AP_Baro_BMP085::init(int initialiseWireLib, bool apm2_hardware) void AP_Baro_BMP085::init( AP_PeriodicProcess * scheduler )
{ {
byte buff[22]; byte buff[22];
int i = 0; int i = 0;
@ -69,7 +69,8 @@ bool AP_Baro_BMP085::init(int initialiseWireLib, bool apm2_hardware)
Wire.beginTransmission(BMP085_ADDRESS); Wire.beginTransmission(BMP085_ADDRESS);
Wire.send(0xAA); Wire.send(0xAA);
if (Wire.endTransmission() != 0) { if (Wire.endTransmission() != 0) {
return false; // Error!
return;
} }
Wire.requestFrom(BMP085_ADDRESS, 22); Wire.requestFrom(BMP085_ADDRESS, 22);
@ -80,7 +81,8 @@ bool AP_Baro_BMP085::init(int initialiseWireLib, bool apm2_hardware)
i++; i++;
} }
if (i != 22) { if (i != 22) {
return false; // Error!
return;
} }
ac1 = ((int)buff[0] << 8) | buff[1]; ac1 = ((int)buff[0] << 8) | buff[1];
@ -98,7 +100,7 @@ bool AP_Baro_BMP085::init(int initialiseWireLib, bool apm2_hardware)
//Send a command to read Temp //Send a command to read Temp
Command_ReadTemp(); Command_ReadTemp();
BMP085_State = 1; BMP085_State = 1;
return true; return;
} }
// Read the sensor. This is a state machine // Read the sensor. This is a state machine

1
libraries/AP_Baro/AP_Baro_BMP085.h
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@ -16,6 +16,7 @@ class AP_Baro_BMP085 : public AP_Baro
/* AP_Baro public interface: */ /* AP_Baro public interface: */
void init(AP_PeriodicProcess * scheduler);
uint8_t read(); uint8_t read();
int32_t get_pressure(); int32_t get_pressure();
int16_t get_temperature(); int16_t get_temperature();

2
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -113,7 +113,7 @@ uint8_t AP_Baro_MS5611::MS5611_Ready()
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
// SPI should be initialized externally // SPI should be initialized externally
void AP_Baro_MS5611::init() void AP_Baro_MS5611::init( AP_PeriodicProcess *scheduler )
{ {
pinMode(MS5611_CS, OUTPUT); // Chip select Pin pinMode(MS5611_CS, OUTPUT); // Chip select Pin
digitalWrite(MS5611_CS, HIGH); digitalWrite(MS5611_CS, HIGH);