mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.2 KiB
C++
87 lines
2.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <AP_Baro.h>
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#include "AP_Baro_PX4.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_baro.h>
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#include <drivers/drv_hrt.h>
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extern const AP_HAL::HAL& hal;
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// Public Methods //////////////////////////////////////////////////////////////
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bool AP_Baro_PX4::init(void)
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{
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if (_baro_fd <= 0) {
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_baro_fd = open(BARO_DEVICE_PATH, O_RDONLY);
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if (_baro_fd < 0) {
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hal.scheduler->panic("Unable to open " BARO_DEVICE_PATH);
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}
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/* set the driver to poll at 150Hz */
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ioctl(_baro_fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX);
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// average over up to 20 samples
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ioctl(_baro_fd, SENSORIOCSQUEUEDEPTH, 20);
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// give the timer a chance to run and gather one sample
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hal.scheduler->delay(40);
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_accumulate();
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}
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return true;
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}
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// Read the sensor
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uint8_t AP_Baro_PX4::read(void)
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{
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// try to accumulate one more sample, so we have the latest data
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_accumulate();
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// consider the baro healthy if we got a reading in the last 0.2s
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_flags.healthy = (hal.scheduler->micros64() - _last_timestamp < 200000);
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if (!_flags.healthy || _sum_count == 0) {
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return _flags.healthy;
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}
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_pressure = (_pressure_sum / _sum_count) * 100.0f;
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_temperature = _temperature_sum / _sum_count;
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_pressure_samples = _sum_count;
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_last_update = (uint32_t)_last_timestamp/1000;
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_pressure_sum = 0;
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_temperature_sum = 0;
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_sum_count = 0;
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return 1;
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}
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// accumulate sensor values
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void AP_Baro_PX4::_accumulate(void)
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{
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struct baro_report baro_report;
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while (::read(_baro_fd, &baro_report, sizeof(baro_report)) == sizeof(baro_report) &&
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baro_report.timestamp != _last_timestamp) {
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_pressure_sum += baro_report.pressure; // Pressure in mbar
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_temperature_sum += baro_report.temperature; // degrees celcius
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_sum_count++;
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_last_timestamp = baro_report.timestamp;
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}
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}
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float AP_Baro_PX4::get_pressure() {
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return _pressure;
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}
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float AP_Baro_PX4::get_temperature() {
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return _temperature;
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}
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#endif // CONFIG_HAL_BOARD
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