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AP_Baro: update MS5611 driver for new ap_proceduce prototype

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this saves calling millis() quite so often
This commit is contained in:
Andrew Tridgell 2011-12-21 23:22:37 +11:00
parent cef1c4c558
commit 5b75458502
2 changed files with 25 additions and 36 deletions
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34
libraries/AP_Baro/AP_Baro_MS5611.cpp
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@ -108,12 +108,6 @@ void AP_Baro_MS5611::_spi_write(uint8_t reg)
digitalWrite(MS5611_CS, HIGH); digitalWrite(MS5611_CS, HIGH);
} }
// The conversion proccess takes 8.2ms since the command
bool AP_Baro_MS5611::_ready()
{
return ( ( millis() - _timer ) > 10 ); // wait for more than 10ms
}
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
// SPI should be initialized externally // SPI should be initialized externally
void AP_Baro_MS5611::init( AP_PeriodicProcess *scheduler ) void AP_Baro_MS5611::init( AP_PeriodicProcess *scheduler )
@ -136,7 +130,7 @@ void AP_Baro_MS5611::init( AP_PeriodicProcess *scheduler )
//Send a command to read Temp first //Send a command to read Temp first
_spi_write(CMD_CONVERT_D2_OSR4096); _spi_write(CMD_CONVERT_D2_OSR4096);
_timer = millis(); _timer = micros();
_state = 1; _state = 1;
Temp=0; Temp=0;
Press=0; Press=0;
@ -148,35 +142,31 @@ void AP_Baro_MS5611::init( AP_PeriodicProcess *scheduler )
// Read the sensor. This is a state machine // Read the sensor. This is a state machine
// We read one time Temperature (state=1) and then 4 times Pressure (states 2-5) // We read one time Temperature (state=1) and then 4 times Pressure (states 2-5)
// temperature does not change so quickly... // temperature does not change so quickly...
void AP_Baro_MS5611::_update(void) void AP_Baro_MS5611::_update(uint32_t tnow)
{ {
if (_sync_access) return; if (_sync_access) return;
if (_state == 1){
if (_ready()){ if (tnow - _timer < 10000) {
return; // wait for more than 10ms
}
_timer = tnow;
if (_state == 1) {
_s_D2 = _spi_read_adc(); // On state 1 we read temp _s_D2 = _spi_read_adc(); // On state 1 we read temp
_state++; _state++;
_spi_write(CMD_CONVERT_D1_OSR4096); // Command to read pressure _spi_write(CMD_CONVERT_D1_OSR4096); // Command to read pressure
_timer = millis(); } else if (_state == 5) {
}
}else{
if (_state == 5){
if (_ready()){
_s_D1 = _spi_read_adc(); _s_D1 = _spi_read_adc();
_state = 1; // Start again from state = 1 _state = 1; // Start again from state = 1
_spi_write(CMD_CONVERT_D2_OSR4096); // Command to read temperature _spi_write(CMD_CONVERT_D2_OSR4096); // Command to read temperature
_timer = millis();
_updated = true; // New pressure reading _updated = true; // New pressure reading
} } else {
}else{
if (_ready()){
_s_D1 = _spi_read_adc(); _s_D1 = _spi_read_adc();
_state++; _state++;
_spi_write(CMD_CONVERT_D1_OSR4096); // Command to read pressure _spi_write(CMD_CONVERT_D1_OSR4096); // Command to read pressure
_timer = millis();
_updated = true; // New pressure reading _updated = true; // New pressure reading
} }
}
}
} }
uint8_t AP_Baro_MS5611::read() uint8_t AP_Baro_MS5611::read()

3
libraries/AP_Baro/AP_Baro_MS5611.h
View File

@ -21,8 +21,7 @@ class AP_Baro_MS5611 : public AP_Baro
private: private:
/* Asynchronous handler functions: */ /* Asynchronous handler functions: */
static void _update(void); static void _update(uint32_t );
static bool _ready();
/* Asynchronous state: */ /* Asynchronous state: */
static bool _updated; static bool _updated;
static uint32_t _s_D1, _s_D2; static uint32_t _s_D1, _s_D2;