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AP_Baro: Chnages to flymaple port.

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Flymaple has no EOC pin
This commit is contained in:
Mike McCauley 2013-09-23 13:12:09 +10:00 committed by Andrew Tridgell
parent c1d3bedb60
commit e3c20f06ac
2 changed files with 17 additions and 1 deletions
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14
libraries/AP_Baro/AP_Baro_BMP085.cpp
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@ -49,7 +49,7 @@
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_HAL.h> #include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || defined(APM2_BETA_HARDWARE) #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE || defined(APM2_BETA_HARDWARE)
#include "AP_Baro_BMP085.h" #include "AP_Baro_BMP085.h"
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -63,6 +63,12 @@ extern const AP_HAL::HAL& hal;
// is not available to the arduino digitalRead function. // is not available to the arduino digitalRead function.
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define BMP_DATA_READY() (PINE&0x80) #define BMP_DATA_READY() (PINE&0x80)
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
// No EOC connection from Baro on Flymaple
// Use times instead.
// Temp conversion time is 4.5ms
// Pressure conversion time is 25.5ms (for OVERSAMPLING=3)
#define BMP_DATA_READY() (BMP085_State == 0 ? hal.scheduler->millis() > (_last_temp_read_command_time + 5) : hal.scheduler->millis() > (_last_press_read_command_time + 26))
#else #else
#define BMP_DATA_READY() hal.gpio->read(BMP085_EOC) #define BMP_DATA_READY() hal.gpio->read(BMP085_EOC)
#endif #endif
@ -95,6 +101,9 @@ bool AP_Baro_BMP085::init()
mc = ((int16_t)buff[18] << 8) | buff[19]; mc = ((int16_t)buff[18] << 8) | buff[19];
md = ((int16_t)buff[20] << 8) | buff[21]; md = ((int16_t)buff[20] << 8) | buff[21];
_last_press_read_command_time = 0;
_last_temp_read_command_time = 0;
//Send a command to read Temp //Send a command to read Temp
Command_ReadTemp(); Command_ReadTemp();
@ -165,8 +174,10 @@ float AP_Baro_BMP085::get_temperature() {
// Send command to Read Pressure // Send command to Read Pressure
void AP_Baro_BMP085::Command_ReadPress() void AP_Baro_BMP085::Command_ReadPress()
{ {
// Mode 0x34+(OVERSAMPLING << 6) is osrs=3 when OVERSAMPLING=3 => 25.5ms conversion time
uint8_t res = hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4, uint8_t res = hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4,
0x34+(OVERSAMPLING << 6)); 0x34+(OVERSAMPLING << 6));
_last_press_read_command_time = hal.scheduler->millis();
if (res != 0) { if (res != 0) {
healthy = false; healthy = false;
} }
@ -199,6 +210,7 @@ void AP_Baro_BMP085::Command_ReadTemp()
if (hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4, 0x2E) != 0) { if (hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4, 0x2E) != 0) {
healthy = false; healthy = false;
} }
_last_temp_read_command_time = hal.scheduler->millis();
} }
// Read Raw Temperature values // Read Raw Temperature values

4
libraries/AP_Baro/AP_Baro_BMP085.h
View File

@ -30,6 +30,10 @@ private:
uint8_t _count; uint8_t _count;
float Temp; float Temp;
float Press; float Press;
// Flymaple has no EOC pin, so use times instead
uint32_t _last_press_read_command_time;
uint32_t _last_temp_read_command_time;
// State machine // State machine
uint8_t BMP085_State; uint8_t BMP085_State;