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AP_Baro: added GND_EXT_BUS option

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this is needed to enable probing for a MS5611 on external I2C bus. The
MS5611 looks the same as a MS5525 airspeed sensor, so we can't just
auto-probe. Users will need to enable external barometers
This commit is contained in:
Andrew Tridgell 2016-12-01 20:59:50 +11:00 committed by Tom Pittenger
parent 57facb4a9d
commit eea7758a63
3 changed files with 20 additions and 6 deletions
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18
libraries/AP_Baro/AP_Baro.cpp
View File

@ -78,6 +78,13 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
// @User: Advanced
AP_GROUPINFO("PRIMARY", 6, AP_Baro, _primary_baro, 0),
// @Param: EXT_BUS
// @DisplayName: External baro bus
// @Description: This selects the bus number for looking for an I2C barometer
// @Values: -1:Disabled,0:Bus0:1:Bus1
// @User: Advanced
AP_GROUPINFO("EXT_BUS", 7, AP_Baro, _ext_bus, -1),
AP_GROUPEND
};
@ -331,11 +338,6 @@ void AP_Baro::init(void)
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_EXT_NAME))));
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
// can have baro on I2C too
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(0, HAL_BARO_MS5611_I2C_ADDR))));
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(1, HAL_BARO_MS5611_I2C_ADDR))));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_INT_NAME))));
@ -372,6 +374,12 @@ void AP_Baro::init(void)
_num_drivers = 1;
#endif
// can optionally have baro on I2C too
if (_ext_bus >= 0) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_MS5611_I2C_ADDR))));
}
if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == nullptr) {
AP_HAL::panic("Baro: unable to initialise driver");
}

1
libraries/AP_Baro/AP_Baro.h
View File

@ -161,6 +161,7 @@ private:
AP_Float _alt_offset;
float _alt_offset_active;
AP_Int8 _primary_baro; // primary chosen by user
AP_Int8 _ext_bus; // bus number for external barometer
float _last_altitude_EAS2TAS;
float _EAS2TAS;
float _external_temperature;

7
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -90,13 +90,16 @@ bool AP_Baro_MS56XX::_init()
uint16_t prom[8];
bool prom_read_ok = false;
const char *name = "MS5611";
switch (_ms56xx_type) {
case BARO_MS5607:
name = "MS5607";
case BARO_MS5611:
prom_read_ok = _read_prom_5611(prom);
break;
case BARO_MS5637:
name = "MS5637";
prom_read_ok = _read_prom_5637(prom);
break;
}
@ -106,6 +109,8 @@ bool AP_Baro_MS56XX::_init()
return false;
}
printf("%s found on bus %u address 0x%02x\n", name, _dev->bus_num(), _dev->get_bus_address());
_dev->transfer(&CMD_MS56XX_RESET, 1, nullptr, 0);
hal.scheduler->delay(4);