AP_Baro: MS5611: Use AP_HAL::Device abstraction
This allows to share almost all the I2C/SPI code and remove the AP_Serial abstraction since that is now handled by AP_HAL itself.
This commit is contained in:
Lucas De Marchi
parent
b05954660a
commit
f1ade970a3
@ -20,6 +20,8 @@
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*/
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#include "AP_Baro.h"
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#include <utility>
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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@ -67,7 +69,7 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
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// @Description: This selects which barometer will be the primary if multiple barometers are found
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// @Values: 0:FirstBaro,1:2ndBaro,2:3rdBaro
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AP_GROUPINFO("PRIMARY", 6, AP_Baro, _primary_baro, 0),
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AP_GROUPEND
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};
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@ -273,7 +275,7 @@ float AP_Baro::get_calibration_temperature(uint8_t instance) const
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if (ret > 25) {
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ret = 25;
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}
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return ret;
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return ret;
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}
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@ -296,49 +298,36 @@ void AP_Baro::init(void)
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_num_drivers = 1;
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#elif HAL_BARO_DEFAULT == HAL_BARO_BMP085
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drivers[0] = new AP_Baro_BMP085(*this,
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hal.i2c_mgr->get_device(HAL_BARO_BMP085_BUS, HAL_BARO_BMP085_I2C_ADDR));
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std::move(hal.i2c_mgr->get_device(HAL_BARO_BMP085_BUS, HAL_BARO_BMP085_I2C_ADDR)));
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_num_drivers = 1;
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#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_I2C
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drivers[0] = new AP_Baro_MS5611(*this,
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std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR)),
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HAL_BARO_MS5611_USE_TIMER);
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_num_drivers = 1;
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#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611 && HAL_BARO_MS5611_I2C_BUS == 0
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{
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drivers[0] = new AP_Baro_MS5611(*this, new AP_SerialBus_I2C(hal.i2c, HAL_BARO_MS5611_I2C_ADDR), false);
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_num_drivers = 1;
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}
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#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611 && HAL_BARO_MS5611_I2C_BUS == 1
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{
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drivers[0] = new AP_Baro_MS5611(*this, new AP_SerialBus_I2C(hal.i2c1, HAL_BARO_MS5611_I2C_ADDR), false);
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_num_drivers = 1;
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}
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#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_SPI
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{
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drivers[0] = new AP_Baro_MS5611(*this,
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new AP_SerialBus_SPI(AP_HAL::SPIDevice_MS5611,
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AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH),
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true);
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_num_drivers = 1;
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}
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#elif HAL_BARO_DEFAULT == HAL_BARO_MS5607 && HAL_BARO_MS5607_I2C_BUS == 1
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{
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drivers[0] = new AP_Baro_MS5607(*this, new AP_SerialBus_I2C(hal.i2c1, HAL_BARO_MS5607_I2C_ADDR), true);
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_num_drivers = 1;
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}
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drivers[0] = new AP_Baro_MS5611(*this,
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std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME)),
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true);
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_num_drivers = 1;
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#elif HAL_BARO_DEFAULT == HAL_BARO_MS5607_I2C
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drivers[0] = new AP_Baro_MS5607(*this,
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std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
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true);
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_num_drivers = 1;
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#elif HAL_BARO_DEFAULT == HAL_BARO_MS5637_I2C
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{
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AP_SerialBus *bus = new AP_SerialBus_I2C(HAL_BARO_MS5611_I2C_POINTER,
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HAL_BARO_MS5611_I2C_ADDR);
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drivers[0] = new AP_Baro_MS5637(*this, bus, true);
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_num_drivers = 1;
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}
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drivers[0] = new AP_Baro_MS5637(*this,
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std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5637_I2C_BUS, HAL_BARO_MS5637_I2C_ADDR)),
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true);
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_num_drivers = 1;
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#elif HAL_BARO_DEFAULT == HAL_BARO_QFLIGHT
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{
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drivers[0] = new AP_Baro_QFLIGHT(*this);
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_num_drivers = 1;
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}
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drivers[0] = new AP_Baro_QFLIGHT(*this);
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_num_drivers = 1;
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#elif HAL_BARO_DEFAULT == HAL_BARO_QURT
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{
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drivers[0] = new AP_Baro_QURT(*this);
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_num_drivers = 1;
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}
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drivers[0] = new AP_Baro_QURT(*this);
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_num_drivers = 1;
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#endif
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if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == NULL) {
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AP_HAL::panic("Baro: unable to initialise driver");
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}
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@ -13,31 +13,31 @@
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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originally written by Jose Julio, Pat Hickey and Jordi Muñoz
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Heavily modified by Andrew Tridgell
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*/
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#include "AP_Baro_MS5611.h"
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#include <AP_HAL/AP_HAL.h>
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#include <utility>
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extern const AP_HAL::HAL& hal;
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extern const AP_HAL::HAL &hal;
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#define CMD_MS5611_RESET 0x1E
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#define CMD_MS56XX_PROM 0xA0
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static const uint8_t CMD_MS56XX_RESET = 0x1E;
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static const uint8_t CMD_MS56XX_READ_ADC = 0x00;
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#define ADDR_CMD_CONVERT_D1_OSR256 0x40 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D1_OSR512 0x42 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D1_OSR1024 0x44 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D1_OSR2048 0x46 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D1_OSR4096 0x48 /* write to this address to start pressure conversion */
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#define ADDR_CMD_CONVERT_D2_OSR256 0x50 /* write to this address to start temperature conversion */
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#define ADDR_CMD_CONVERT_D2_OSR512 0x52 /* write to this address to start temperature conversion */
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#define ADDR_CMD_CONVERT_D2_OSR1024 0x54 /* write to this address to start temperature conversion */
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#define ADDR_CMD_CONVERT_D2_OSR2048 0x56 /* write to this address to start temperature conversion */
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#define ADDR_CMD_CONVERT_D2_OSR4096 0x58 /* write to this address to start temperature conversion */
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/* PROM start address */
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static const uint8_t CMD_MS56XX_PROM = 0xA0;
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/* write to one of these addresses to start pressure conversion */
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#define ADDR_CMD_CONVERT_D1_OSR256 0x40
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#define ADDR_CMD_CONVERT_D1_OSR512 0x42
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#define ADDR_CMD_CONVERT_D1_OSR1024 0x44
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#define ADDR_CMD_CONVERT_D1_OSR2048 0x46
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#define ADDR_CMD_CONVERT_D1_OSR4096 0x48
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/* write to one of these addresses to start temperature conversion */
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#define ADDR_CMD_CONVERT_D2_OSR256 0x50
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#define ADDR_CMD_CONVERT_D2_OSR512 0x52
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#define ADDR_CMD_CONVERT_D2_OSR1024 0x54
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#define ADDR_CMD_CONVERT_D2_OSR2048 0x56
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#define ADDR_CMD_CONVERT_D2_OSR4096 0x58
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/*
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use an OSR of 1024 to reduce the self-heating effect of the
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@ -45,149 +45,36 @@ extern const AP_HAL::HAL& hal;
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are quite sensitive to this effect and that reducing the OSR can
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make a big difference
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*/
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#define ADDR_CMD_CONVERT_D1 ADDR_CMD_CONVERT_D1_OSR1024
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#define ADDR_CMD_CONVERT_D2 ADDR_CMD_CONVERT_D2_OSR1024
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// SPI Device //////////////////////////////////////////////////////////////////
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AP_SerialBus_SPI::AP_SerialBus_SPI(enum AP_HAL::SPIDeviceType device, enum AP_HAL::SPIDeviceDriver::bus_speed speed) :
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_device(device),
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_speed(speed),
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_spi(NULL),
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_spi_sem(NULL)
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{
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}
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void AP_SerialBus_SPI::init()
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{
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_spi = hal.spi->device(_device);
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if (_spi == NULL) {
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AP_HAL::panic("did not get valid SPI device driver!");
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}
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_spi_sem = _spi->get_semaphore();
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if (_spi_sem == NULL) {
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AP_HAL::panic("AP_SerialBus_SPI did not get valid SPI semaphroe!");
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}
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_spi->set_bus_speed(_speed);
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}
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uint16_t AP_SerialBus_SPI::read_16bits(uint8_t reg)
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{
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uint8_t tx[3] = { reg, 0, 0 };
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uint8_t rx[3];
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_spi->transaction(tx, rx, 3);
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return ((uint16_t) rx[1] << 8 ) | ( rx[2] );
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}
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uint32_t AP_SerialBus_SPI::read_24bits(uint8_t reg)
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{
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uint8_t tx[4] = { reg, 0, 0, 0 };
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uint8_t rx[4];
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_spi->transaction(tx, rx, 4);
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return (((uint32_t)rx[1])<<16) | (((uint32_t)rx[2])<<8) | ((uint32_t)rx[3]);
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}
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bool AP_SerialBus_SPI::write(uint8_t reg)
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{
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uint8_t tx[1] = { reg };
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_spi->transaction(tx, NULL, 1);
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return true;
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}
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bool AP_SerialBus_SPI::sem_take_blocking()
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{
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return _spi_sem->take(10);
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}
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bool AP_SerialBus_SPI::sem_take_nonblocking()
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{
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return _spi_sem->take_nonblocking();
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}
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void AP_SerialBus_SPI::sem_give()
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{
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_spi_sem->give();
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}
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/// I2C SerialBus
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AP_SerialBus_I2C::AP_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr) :
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_i2c(i2c),
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_addr(addr),
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_i2c_sem(NULL)
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{
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}
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void AP_SerialBus_I2C::init()
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{
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_i2c_sem = _i2c->get_semaphore();
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if (_i2c_sem == NULL) {
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AP_HAL::panic("AP_SerialBus_I2C did not get valid I2C semaphore!");
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}
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}
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uint16_t AP_SerialBus_I2C::read_16bits(uint8_t reg)
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{
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uint8_t buf[2];
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if (_i2c->readRegisters(_addr, reg, sizeof(buf), buf) == 0) {
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return (((uint16_t)(buf[0]) << 8) | buf[1]);
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}
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return 0;
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}
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uint32_t AP_SerialBus_I2C::read_24bits(uint8_t reg)
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{
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uint8_t buf[3];
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if (_i2c->readRegisters(_addr, reg, sizeof(buf), buf) == 0) {
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return (((uint32_t)buf[0]) << 16) | (((uint32_t)buf[1]) << 8) | buf[2];
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}
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return 0;
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}
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bool AP_SerialBus_I2C::write(uint8_t reg)
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{
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return _i2c->write(_addr, 1, ®) == 0;
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}
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bool AP_SerialBus_I2C::sem_take_blocking()
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{
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return _i2c_sem->take(10);
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}
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bool AP_SerialBus_I2C::sem_take_nonblocking()
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{
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return _i2c_sem->take_nonblocking();
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}
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void AP_SerialBus_I2C::sem_give()
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{
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_i2c_sem->give();
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}
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static const uint8_t ADDR_CMD_CONVERT_PRESSURE = ADDR_CMD_CONVERT_D1_OSR1024;
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static const uint8_t ADDR_CMD_CONVERT_TEMPERATURE = ADDR_CMD_CONVERT_D2_OSR1024;
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/*
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constructor
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*/
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AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
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AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
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: AP_Baro_Backend(baro)
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, _serial(serial)
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, _dev(std::move(dev))
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, _use_timer(use_timer)
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{
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}
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void AP_Baro_MS56XX::_init()
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{
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if (!_dev) {
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AP_HAL::panic("AP_Baro_MS56XX: failed to use device");
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}
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_instance = _frontend.register_sensor();
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_serial->init();
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// we need to suspend timers to prevent other SPI drivers grabbing
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// the bus while we do the long initialisation
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hal.scheduler->suspend_timer_procs();
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if (!_serial->sem_take_blocking()){
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if (!_dev->get_semaphore()->take(10)) {
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AP_HAL::panic("PANIC: AP_Baro_MS56XX: failed to take serial semaphore for init");
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}
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_serial->write(CMD_MS5611_RESET);
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_dev->transfer(&CMD_MS56XX_RESET, 1, nullptr, 0);
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hal.scheduler->delay(4);
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uint16_t prom[8];
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@ -203,8 +90,8 @@ void AP_Baro_MS56XX::_init()
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_c5 = prom[5];
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_c6 = prom[6];
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// Send a command to read Temp first
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_serial->write(ADDR_CMD_CONVERT_D2);
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// Send a command to read temperature first
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_dev->transfer(&ADDR_CMD_CONVERT_TEMPERATURE, 1, nullptr, 0);
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_last_timer = AP_HAL::micros();
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_state = 0;
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@ -213,7 +100,7 @@ void AP_Baro_MS56XX::_init()
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_d1_count = 0;
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_d2_count = 0;
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_serial->sem_give();
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_dev->get_semaphore()->give();
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hal.scheduler->resume_timer_procs();
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@ -251,6 +138,27 @@ static uint16_t crc4(uint16_t *data)
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return (n_rem >> 12) & 0xF;
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}
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uint16_t AP_Baro_MS56XX::_read_prom_word(uint8_t word)
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{
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const uint8_t reg = CMD_MS56XX_PROM + (word << 1);
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uint8_t val[2];
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if (!_dev->transfer(®, 1, val, 2)) {
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return 0;
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}
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return (val[0] << 8) | val[1];
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}
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uint32_t AP_Baro_MS56XX::_read_adc()
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{
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uint8_t val[3];
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if (!_dev->transfer(&CMD_MS56XX_READ_ADC, 1, val, 3)) {
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return 0;
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}
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return (val[0] << 16) | (val[1] << 8) | val[2];
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}
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bool AP_Baro_MS56XX::_read_prom(uint16_t prom[8])
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{
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/*
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@ -261,7 +169,7 @@ bool AP_Baro_MS56XX::_read_prom(uint16_t prom[8])
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* CRC field must me removed for CRC-4 calculation.
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*/
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for (uint8_t i = 0; i < 8; i++) {
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prom[i] = _serial->read_16bits(CMD_MS56XX_PROM + (i << 1));
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prom[i] = _read_prom_word(i);
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}
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/* save the read crc */
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@ -284,7 +192,7 @@ bool AP_Baro_MS5637::_read_prom(uint16_t prom[8])
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* calculation.
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*/
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for (uint8_t i = 0; i < 7; i++) {
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prom[i] = _serial->read_16bits(CMD_MS56XX_PROM + (i << 1));
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prom[i] = _read_prom_word(i);
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}
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prom[7] = 0;
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@ -311,13 +219,13 @@ void AP_Baro_MS56XX::_timer(void)
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return;
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}
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if (!_serial->sem_take_nonblocking()) {
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if (!_dev->get_semaphore()->take_nonblocking()) {
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return;
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}
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if (_state == 0) {
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// On state 0 we read temp
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uint32_t d2 = _serial->read_24bits(0);
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uint32_t d2 = _read_adc();
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if (d2 != 0) {
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_s_D2 += d2;
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_d2_count++;
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@ -329,16 +237,16 @@ void AP_Baro_MS56XX::_timer(void)
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_d2_count = 16;
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}
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if (_serial->write(ADDR_CMD_CONVERT_D1)) { // Command to read pressure
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if (_dev->transfer(&ADDR_CMD_CONVERT_PRESSURE, 1, nullptr, 0)) {
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_state++;
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}
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} else {
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/* if read fails, re-initiate a temperature read command or we are
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* stuck */
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_serial->write(ADDR_CMD_CONVERT_D2);
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_dev->transfer(&ADDR_CMD_CONVERT_TEMPERATURE, 1, nullptr, 0);
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}
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} else {
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uint32_t d1 = _serial->read_24bits(0);
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uint32_t d1 = _read_adc();
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if (d1 != 0) {
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// occasional zero values have been seen on the PXF
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// board. These may be SPI errors, but safest to ignore
|
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@ -355,23 +263,23 @@ void AP_Baro_MS56XX::_timer(void)
|
||||
_updated = true;
|
||||
|
||||
if (_state == 4) {
|
||||
if (_serial->write(ADDR_CMD_CONVERT_D2)) { // Command to read temperature
|
||||
if (_dev->transfer(&ADDR_CMD_CONVERT_TEMPERATURE, 1, nullptr, 0)) {
|
||||
_state = 0;
|
||||
}
|
||||
} else {
|
||||
if (_serial->write(ADDR_CMD_CONVERT_D1)) { // Command to read pressure
|
||||
if (_dev->transfer(&ADDR_CMD_CONVERT_PRESSURE, 1, nullptr, 0)) {
|
||||
_state++;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
/* if read fails, re-initiate a pressure read command or we are
|
||||
* stuck */
|
||||
_serial->write(ADDR_CMD_CONVERT_D1);
|
||||
_dev->transfer(&ADDR_CMD_CONVERT_PRESSURE, 1, nullptr, 0);
|
||||
}
|
||||
}
|
||||
|
||||
_last_timer = AP_HAL::micros();
|
||||
_serial->sem_give();
|
||||
_dev->get_semaphore()->give();
|
||||
}
|
||||
|
||||
void AP_Baro_MS56XX::update()
|
||||
@ -408,8 +316,8 @@ void AP_Baro_MS56XX::update()
|
||||
}
|
||||
|
||||
/* MS5611 class */
|
||||
AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
|
||||
: AP_Baro_MS56XX(baro, serial, use_timer)
|
||||
AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
|
||||
: AP_Baro_MS56XX(baro, std::move(dev), use_timer)
|
||||
{
|
||||
_init();
|
||||
}
|
||||
@ -450,8 +358,8 @@ void AP_Baro_MS5611::_calculate()
|
||||
}
|
||||
|
||||
/* MS5607 Class */
|
||||
AP_Baro_MS5607::AP_Baro_MS5607(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
|
||||
: AP_Baro_MS56XX(baro, serial, use_timer)
|
||||
AP_Baro_MS5607::AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
|
||||
: AP_Baro_MS56XX(baro, std::move(dev), use_timer)
|
||||
{
|
||||
_init();
|
||||
}
|
||||
@ -491,9 +399,9 @@ void AP_Baro_MS5607::_calculate()
|
||||
_copy_to_frontend(_instance, pressure, temperature);
|
||||
}
|
||||
|
||||
/* MS563 Class */
|
||||
AP_Baro_MS5637::AP_Baro_MS5637(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
|
||||
: AP_Baro_MS56XX(baro, serial, use_timer)
|
||||
/* MS5637 Class */
|
||||
AP_Baro_MS5637::AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer)
|
||||
: AP_Baro_MS56XX(baro, std::move(dev), use_timer)
|
||||
{
|
||||
_init();
|
||||
}
|
||||
|
||||
@ -4,72 +4,7 @@
|
||||
#include "AP_Baro_Backend.h"
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
|
||||
/** Abstract serial bus device driver for I2C/SPI. */
|
||||
class AP_SerialBus
|
||||
{
|
||||
public:
|
||||
/** Initialize the driver. */
|
||||
virtual void init() = 0;
|
||||
|
||||
/** Read a 16-bit value from register "reg". */
|
||||
virtual uint16_t read_16bits(uint8_t reg) = 0;
|
||||
|
||||
/** Read a 24-bit value */
|
||||
virtual uint32_t read_24bits(uint8_t reg) = 0;
|
||||
|
||||
/** Write to a register with no data. */
|
||||
virtual bool write(uint8_t reg) = 0;
|
||||
|
||||
/** Acquire the internal semaphore for this device.
|
||||
* take_nonblocking should be used from the timer process,
|
||||
* take_blocking from synchronous code (i.e. init) */
|
||||
virtual bool sem_take_nonblocking() = 0;
|
||||
virtual bool sem_take_blocking() = 0;
|
||||
|
||||
/** Release the internal semaphore for this device. */
|
||||
virtual void sem_give() = 0;
|
||||
};
|
||||
|
||||
/** SPI serial device. */
|
||||
class AP_SerialBus_SPI : public AP_SerialBus
|
||||
{
|
||||
public:
|
||||
AP_SerialBus_SPI(enum AP_HAL::SPIDeviceType device, enum AP_HAL::SPIDeviceDriver::bus_speed speed);
|
||||
void init();
|
||||
uint16_t read_16bits(uint8_t reg);
|
||||
uint32_t read_24bits(uint8_t reg);
|
||||
uint32_t read_adc(uint8_t reg);
|
||||
bool write(uint8_t reg);
|
||||
bool sem_take_nonblocking();
|
||||
bool sem_take_blocking();
|
||||
void sem_give();
|
||||
|
||||
private:
|
||||
enum AP_HAL::SPIDeviceType _device;
|
||||
enum AP_HAL::SPIDeviceDriver::bus_speed _speed;
|
||||
AP_HAL::SPIDeviceDriver *_spi;
|
||||
AP_HAL::Semaphore *_spi_sem;
|
||||
};
|
||||
|
||||
/** I2C serial device. */
|
||||
class AP_SerialBus_I2C : public AP_SerialBus
|
||||
{
|
||||
public:
|
||||
AP_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
|
||||
void init();
|
||||
uint16_t read_16bits(uint8_t reg);
|
||||
uint32_t read_24bits(uint8_t reg);
|
||||
bool write(uint8_t reg);
|
||||
bool sem_take_nonblocking();
|
||||
bool sem_take_blocking();
|
||||
void sem_give();
|
||||
|
||||
private:
|
||||
AP_HAL::I2CDriver *_i2c;
|
||||
uint8_t _addr;
|
||||
AP_HAL::Semaphore *_i2c_sem;
|
||||
};
|
||||
#include <AP_HAL/Device.h>
|
||||
|
||||
class AP_Baro_MS56XX : public AP_Baro_Backend
|
||||
{
|
||||
@ -78,14 +13,18 @@ public:
|
||||
void accumulate();
|
||||
|
||||
protected:
|
||||
AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
|
||||
AP_Baro_MS56XX(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
|
||||
void _init();
|
||||
|
||||
virtual void _calculate() = 0;
|
||||
virtual bool _read_prom(uint16_t prom[8]);
|
||||
|
||||
uint16_t _read_prom_word(uint8_t word);
|
||||
uint32_t _read_adc();
|
||||
|
||||
void _timer();
|
||||
|
||||
AP_SerialBus *_serial;
|
||||
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
|
||||
|
||||
/* Asynchronous state: */
|
||||
volatile bool _updated;
|
||||
@ -107,24 +46,24 @@ protected:
|
||||
class AP_Baro_MS5611 : public AP_Baro_MS56XX
|
||||
{
|
||||
public:
|
||||
AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
|
||||
private:
|
||||
AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
|
||||
protected:
|
||||
void _calculate();
|
||||
};
|
||||
|
||||
class AP_Baro_MS5607 : public AP_Baro_MS56XX
|
||||
{
|
||||
public:
|
||||
AP_Baro_MS5607(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
|
||||
private:
|
||||
AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
|
||||
protected:
|
||||
void _calculate();
|
||||
};
|
||||
|
||||
class AP_Baro_MS5637 : public AP_Baro_MS56XX
|
||||
{
|
||||
public:
|
||||
AP_Baro_MS5637(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
|
||||
private:
|
||||
AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool use_timer);
|
||||
protected:
|
||||
void _calculate();
|
||||
bool _read_prom(uint16_t prom[8]) override;
|
||||
};
|
||||
|
||||
@ -72,9 +72,9 @@
|
||||
|
||||
// barometer driver types
|
||||
#define HAL_BARO_BMP085 1
|
||||
#define HAL_BARO_MS5611 2
|
||||
#define HAL_BARO_MS5611_I2C 2
|
||||
#define HAL_BARO_MS5611_SPI 3
|
||||
#define HAL_BARO_MS5607 4
|
||||
#define HAL_BARO_MS5607_I2C 4
|
||||
#define HAL_BARO_PX4 5
|
||||
#define HAL_BARO_HIL 6
|
||||
#define HAL_BARO_VRBRAIN 7
|
||||
@ -202,6 +202,7 @@
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
||||
#define HAL_GPIO_A_LED_PIN 61
|
||||
#define HAL_GPIO_B_LED_PIN 48
|
||||
@ -217,9 +218,9 @@
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
|
||||
#define HAL_INS_AK8963_I2C_BUS 1
|
||||
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
|
||||
#define HAL_BARO_MS5607_I2C_BUS 1
|
||||
#define HAL_BARO_MS5607_I2C_ADDR 0x77
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5607
|
||||
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
|
||||
#define HAL_LINUX_HEAT_PWM_NUM 6
|
||||
#define HAL_LINUX_HEAT_KP 20000
|
||||
@ -248,9 +249,10 @@
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611
|
||||
#define HAL_BARO_MS5611_I2C_BUS 1
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
||||
#define HAL_BARO_MS5611_I2C_BUS 10
|
||||
#define HAL_BARO_MS5611_I2C_ADDR 0x77
|
||||
#define HAL_BARO_MS5611_USE_TIMER true
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843_MPU6000
|
||||
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
|
||||
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
|
||||
@ -272,9 +274,10 @@
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611
|
||||
#define HAL_BARO_MS5611_I2C_BUS 0
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
||||
#define HAL_BARO_MS5611_I2C_BUS 1
|
||||
#define HAL_BARO_MS5611_I2C_ADDR 0x77
|
||||
#define HAL_BARO_MS5611_USE_TIMER false
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
||||
#define HAL_GPIO_A_LED_PIN 16
|
||||
#define HAL_GPIO_B_LED_PIN 16
|
||||
@ -286,12 +289,14 @@
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_RASPILOT
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
||||
#define HAL_GPIO_A_LED_PIN 24
|
||||
#define HAL_GPIO_B_LED_PIN 25
|
||||
@ -310,6 +315,7 @@
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
||||
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
|
||||
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
|
||||
@ -334,9 +340,10 @@
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611
|
||||
#define HAL_BARO_MS5611_I2C_BUS 0
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
||||
#define HAL_BARO_MS5611_I2C_BUS 1
|
||||
#define HAL_BARO_MS5611_I2C_ADDR 0x77
|
||||
#define HAL_BARO_MS5611_USE_TIMER true
|
||||
#define HAL_INS_DEFAULT HAL_INS_BH
|
||||
#define HAL_INS_MPU60XX_I2C_ADDR 0x69
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
|
||||
|
||||
Loading…
Reference in New Issue
Block a user