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Config tweaks to enable the new-style ms5611 driver.

This commit is contained in:
px4dev 2012-08-14 00:07:19 -07:00
parent 91d1524837
commit 735f8ffa3d
3 changed files with 19 additions and 11 deletions
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20
apps/drivers/ms5611/ms5611.cpp
View File

@ -58,6 +58,8 @@
#include <arch/board/up_hrt.h>
#include <systemlib/perf_counter.h>
#include <drivers/drv_baro.h>
/**
@ -123,13 +125,15 @@ private:
int32_t _dT;
int64_t _temp64;
int _orbject;
int _baro_topic;
unsigned _reads;
unsigned _measure_errors;
unsigned _read_errors;
unsigned _buf_overflows;
perf_counter_t _sample_perf;
/**
* Test whether the device supported by the driver is present at a
* specific address.
@ -245,7 +249,8 @@ MS5611::MS5611(int bus) :
_reads(0),
_measure_errors(0),
_read_errors(0),
_buf_overflows(0)
_buf_overflows(0),
_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read"))
{
// enable debug() calls
_debug_enabled = true;
@ -278,9 +283,9 @@ MS5611::init()
/* if this fails (e.g. no object in the system) that's OK */
memset(&b, 0, sizeof(b));
_orbject = orb_advertise(ORB_ID(sensor_baro), &b);
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &b);
if (_orbject < 0)
if (_baro_topic < 0)
debug("failed to create sensor_baro object");
}
@ -610,6 +615,8 @@ MS5611::collect()
/* read the most recent measurement */
cmd = 0;
perf_begin(_sample_perf);
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
_reports[_next_report].timestamp = hrt_absolute_time();
@ -655,7 +662,7 @@ MS5611::collect()
_reports[_next_report].altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295)));
/* publish it */
orb_publish(ORB_ID(sensor_baro), _orbject, &_reports[_next_report]);
orb_publish(ORB_ID(sensor_baro), _baro_topic, &_reports[_next_report]);
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
@ -670,10 +677,11 @@ MS5611::collect()
poll_notify(POLLIN);
}
/* update the measurement state machine */
INCREMENT(_measure_phase, MS5611_MEASUREMENT_RATIO + 1);
perf_end(_sample_perf);
return OK;
}

2
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -75,7 +75,7 @@ CONFIGURED_APPS += attitude_estimator_ekf
# Communication and Drivers
CONFIGURED_APPS += drivers/device
#CONFIGURED_APPS += drivers/ms5611
CONFIGURED_APPS += drivers/ms5611
CONFIGURED_APPS += drivers/mpu6000
CONFIGURED_APPS += px4/px4io/driver
CONFIGURED_APPS += px4/fmu

8
nuttx/configs/px4fmu/nsh/defconfig
View File

@ -537,10 +537,10 @@ CONFIG_SEM_NNESTPRIO=8
CONFIG_FDCLONE_DISABLE=n
CONFIG_FDCLONE_STDIO=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SCHED_WORKQUEUE=n
CONFIG_SCHED_WORKPRIORITY=50
CONFIG_SCHED_WORKPERIOD=(50*1000)
CONFIG_SCHED_WORKSTACKSIZE=1024
CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_WORKPRIORITY=199
CONFIG_SCHED_WORKPERIOD=(5*1000)
CONFIG_SCHED_WORKSTACKSIZE=2048
CONFIG_SIG_SIGWORK=4
CONFIG_SCHED_WAITPID=y
CONFIG_SCHED_ATEXIT=n