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Code Issues Wiki Activity

cleaned up bmp085 driver

Browse source 
added ms5611 driver
refactored pressure sensor subsystem to allow multiple sensors
couple changes in PWM driver to make motor/servo arrangement for airplane mode more intuitive
moved MAX_MOTORS/MAX_SERVOS etc into drv_pwm.h
staring to merge back in airplane/flyingwing mixes
fix for tri servo display - mwc moved it to servo[5] again, gui was broken, function not.
will probably implement custom mixer soon (motors only, no servos)


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@198 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-20 10:25:10 +00:00
parent ee76242525
commit e6cb4a0b1c
15 changed files with 3042 additions and 2698 deletions
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55
src/sensors.c
View file

@ -17,6 +17,7 @@ extern float magneticDeclination;
sensor_t acc; // acc access functions
sensor_t gyro; // gyro access functions
baro_t baro; // barometer access functions
uint8_t accHardware = ACC_DEFAULT; // which accel chip is used/detected
#ifdef FY90Q
@ -85,17 +86,25 @@ retry:
}
}
// Detect what else is available
if (!bmp085Init())
sensorsClear(SENSOR_BARO);
#ifdef BARO
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
if (!ms5611Detect(&baro)) {
// ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro
if (!bmp085Detect(&baro)) {
// if both failed, we don't have anything
sensorsClear(SENSOR_BARO);
}
}
#endif
#ifdef MAG
if (!hmc5883lDetect())
sensorsClear(SENSOR_MAG);
#endif
// Now time to init them, acc first
// Now time to init things, acc first
if (sensors(SENSOR_ACC))
acc.init();
if (sensors(SENSOR_BARO))
bmp085Init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init();
@ -234,13 +243,10 @@ void ACC_getADC(void)
}
#ifdef BARO
static uint32_t baroDeadline = 0;
static uint8_t baroState = 0;
static uint16_t baroUT = 0;
static uint32_t baroUP = 0;
void Baro_update(void)
{
static uint32_t baroDeadline = 0;
static uint8_t state = 0;
int32_t pressure;
if ((int32_t)(currentTime - baroDeadline) < 0)
@ -248,28 +254,27 @@ void Baro_update(void)
baroDeadline = currentTime;
switch (baroState) {
switch (state) {
case 0:
bmp085_start_ut();
baroState++;
baroDeadline += 4600;
baro.start_ut();
state++;
baroDeadline += baro.ut_delay;
break;
case 1:
baroUT = bmp085_get_ut();
baroState++;
baro.get_ut();
state++;
break;
case 2:
bmp085_start_up();
baroState++;
baroDeadline += 26000;
baro.start_up();
state++;
baroDeadline += baro.up_delay;
break;
case 3:
baroUP = bmp085_get_up();
bmp085_get_temperature(baroUT);
pressure = bmp085_get_pressure(baroUP);
baro.get_up();
pressure = baro.calculate();
BaroAlt = (1.0f - pow(pressure / 101325.0f, 0.190295f)) * 4433000.0f; // centimeter
baroState = 0;
baroDeadline += 5000;
state = 0;
baroDeadline += baro.repeat_delay;
break;
}
}