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Commit f4784fe6 authored by Emile Castelnuovo's avatar Emile Castelnuovo Committed by Andrew Tridgell
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AP_Baro: new files for VRBRAIN board

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...@@ -90,5 +90,6 @@ private: ...@@ -90,5 +90,6 @@ private:
#include "AP_Baro_BMP085.h" #include "AP_Baro_BMP085.h"
#include "AP_Baro_HIL.h" #include "AP_Baro_HIL.h"
#include "AP_Baro_PX4.h" #include "AP_Baro_PX4.h"
#include "AP_Baro_VRBRAIN.h"
#endif // __AP_BARO_H__ #endif // __AP_BARO_H__
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <AP_Baro.h>
#include "AP_Baro_VRBRAIN.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>
extern const AP_HAL::HAL& hal;
// Public Methods //////////////////////////////////////////////////////////////
bool AP_Baro_VRBRAIN::init(void)
{
if (_baro_fd <= 0) {
_baro_fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (_baro_fd < 0) {
hal.scheduler->panic("Unable to open " BARO_DEVICE_PATH);
}
/* set the driver to poll at 150Hz */
ioctl(_baro_fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX);
// average over up to 20 samples
ioctl(_baro_fd, SENSORIOCSQUEUEDEPTH, 20);
// give the timer a chance to run and gather one sample
hal.scheduler->delay(40);
_accumulate();
}
return true;
}
// Read the sensor
uint8_t AP_Baro_VRBRAIN::read(void)
{
// try to accumulate one more sample, so we have the latest data
_accumulate();
// consider the baro healthy if we got a reading in the last 0.2s
healthy = (hrt_absolute_time() - _last_timestamp < 200000);
if (!healthy || _sum_count == 0) {
return healthy;
}
_pressure = (_pressure_sum / _sum_count) * 100.0f;
_temperature = _temperature_sum / _sum_count;
_pressure_samples = _sum_count;
_last_update = (uint32_t)_last_timestamp/1000;
_pressure_sum = 0;
_temperature_sum = 0;
_sum_count = 0;
return 1;
}
// accumulate sensor values
void AP_Baro_VRBRAIN::_accumulate(void)
{
struct baro_report baro_report;
while (::read(_baro_fd, &baro_report, sizeof(baro_report)) == sizeof(baro_report) &&
baro_report.timestamp != _last_timestamp) {
_pressure_sum += baro_report.pressure; // Pressure in mbar
_temperature_sum += baro_report.temperature; // degrees celcius
_sum_count++;
_last_timestamp = baro_report.timestamp;
}
}
float AP_Baro_VRBRAIN::get_pressure() {
return _pressure;
}
float AP_Baro_VRBRAIN::get_temperature() {
return _temperature;
}
#endif // CONFIG_HAL_BOARD
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_BARO_VRBRAIN_H__
#define __AP_BARO_VRBRAIN_H__
#include "AP_Baro.h"
class AP_Baro_VRBRAIN : public AP_Baro
{
public:
bool init();
uint8_t read();
float get_pressure();
float get_temperature();
private:
float _temperature;
float _pressure;
float _pressure_sum;
float _temperature_sum;
uint32_t _sum_count;
void _accumulate(void);
void _baro_timer(uint32_t now);
uint64_t _last_timestamp;
// baro driver handle
int _baro_fd;
};
#endif // __AP_BARO_VRBRAIN_H__
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