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Baro_BMP085: use healthy flag

This commit is contained in:
Randy Mackay 2014-08-13 21:42:51 +09:00
parent 330d883f97
commit fdb38dec5f
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_Baro/AP_Baro_BMP085.cpp
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@ -89,7 +89,7 @@ bool AP_Baro_BMP085::init()
// We read the calibration data registers
if (hal.i2c->readRegisters(BMP085_ADDRESS, 0xAA, 22, buff) != 0) {
healthy = false;
_flags.healthy = false;
i2c_sem->give();
return false;
}
@ -117,7 +117,7 @@ bool AP_Baro_BMP085::init()
// init raw temo
RawTemp = 0;
healthy = true;
_flags.healthy = true;
i2c_sem->give();
return true;
}
@ -195,7 +195,7 @@ void AP_Baro_BMP085::Command_ReadPress()
0x34+(OVERSAMPLING << 6));
_last_press_read_command_time = hal.scheduler->millis();
if (res != 0) {
healthy = false;
_flags.healthy = false;
}
}
@ -204,14 +204,14 @@ void AP_Baro_BMP085::ReadPress()
{
uint8_t buf[3];
if (!healthy && hal.scheduler->millis() < _retry_time) {
if (!_flags.healthy && hal.scheduler->millis() < _retry_time) {
return;
}
if (hal.i2c->readRegisters(BMP085_ADDRESS, 0xF6, 3, buf) != 0) {
_retry_time = hal.scheduler->millis() + 1000;
hal.i2c->setHighSpeed(false);
healthy = false;
_flags.healthy = false;
return;
}
@ -224,7 +224,7 @@ void AP_Baro_BMP085::ReadPress()
void AP_Baro_BMP085::Command_ReadTemp()
{
if (hal.i2c->writeRegister(BMP085_ADDRESS, 0xF4, 0x2E) != 0) {
healthy = false;
_flags.healthy = false;
}
_last_temp_read_command_time = hal.scheduler->millis();
}
@ -235,14 +235,14 @@ void AP_Baro_BMP085::ReadTemp()
uint8_t buf[2];
int32_t _temp_sensor;
if (!healthy && hal.scheduler->millis() < _retry_time) {
if (!_flags.healthy && hal.scheduler->millis() < _retry_time) {
return;
}
if (hal.i2c->readRegisters(BMP085_ADDRESS, 0xF6, 2, buf) != 0) {
_retry_time = hal.scheduler->millis() + 1000;
hal.i2c->setHighSpeed(false);
healthy = false;
_flags.healthy = false;
return;
}
_temp_sensor = buf[0];