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Baro: fixed MS5611 example sketch

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This commit is contained in:
Andrew Tridgell 2011-12-28 21:49:29 +11:00
parent 820153d7ae
commit 074fd31506
1 changed files with 41 additions and 45 deletions
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86
libraries/AP_Baro/examples/AP_Baro_MS5611_test/AP_Baro_MS5611_test.pde
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@ -1,12 +1,21 @@
#include <stdint.h>
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <FastSerial.h>
#include <I2C.h>
#include <SPI.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include <AP_Baro.h> // ArduPilot Mega ADC Library
FastSerialPort0(Serial);
AP_Baro_MS5611 baro;
Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler;
unsigned long timer;
void setup()
{
@ -15,54 +24,41 @@ void setup()
delay(1000);
pinMode(63, OUTPUT);
digitalWrite(63, HIGH);
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV32); // 500khz for debugging, increase later
isr_registry.init();
scheduler.init(&isr_registry);
baro.init();
pinMode(63, OUTPUT);
digitalWrite(63, HIGH);
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV32); // 500khz for debugging, increase later
baro.init(&scheduler);
timer = micros();
}
void loop()
{
int32_t pres;
int32_t temp;
Serial.println("Start Conversions");
baro._start_conversion_D1();
delay(10);
bool res1 = baro._adc_read(&pres);
baro._start_conversion_D2();
delay(10);
bool res2 = baro._adc_read(&temp);
if (res1) {
Serial.printf("Pressure raw value %ld\r\n",pres);
} else {
Serial.println("ADC conversion D1 unsuccessful");
}
if (res2) {
Serial.printf("Temp raw value %ld\r\n",pres);
} else {
Serial.println("ADC conversion D2 unsuccessful");
}
Serial.println("---");
delay(250);
}
void update_and_print()
{
int32_t pres;
float temp;
baro.update();
pres = baro.get_pressure();
temp = baro.get_temp();
Serial.printf("p: %ld t: %f \r\n", pres, temp);
delay(100);
float tmp_float;
float Altitude;
if((micros()- timer) > 50000L){
timer = micros();
baro.read();
unsigned long read_time = micros() - timer;
if (!baro.healthy) {
Serial.println("not healthy");
return;
}
Serial.print("Pressure:");
Serial.print(baro.get_pressure());
Serial.print(" Temperature:");
Serial.print(baro.get_temperature());
Serial.print(" Altitude:");
tmp_float = (baro.get_pressure() / 101325.0);
tmp_float = pow(tmp_float, 0.190295);
Altitude = 44330 * (1.0 - tmp_float);
Serial.print(Altitude);
Serial.printf(" t=%u", (unsigned)read_time);
Serial.println();
}
}