Merge pull request #287 from rosflight/fix_rosflight_59

Fix rosflight 59
rosflight · Feb 27, 2018 · be5cf40 · be5cf40
2 parents 4ccb0c6 + 187bfc1
commit be5cf40
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Showing 4 changed files with 27 additions and 6 deletions.
diff --git a/boards/naze/Makefile b/boards/naze/Makefile
@@ -108,6 +108,7 @@ BREEZY_SRC = drv_gpio.c \
              drv_ms4525.c \
              drv_mb1242.c \
              drv_ms5611.c \
+             drv_bmp280.c \
              drv_hmc5883l.c \
              startup_stm32f10x_md_gcc.S
 

diff --git a/boards/naze/lib/breezystm32 b/boards/naze/lib/breezystm32
diff --git a/boards/naze/naze32.cpp b/boards/naze/naze32.cpp
@@ -113,11 +113,16 @@ void Naze32::sensors_init()
   while(millis() < 50);
 
   i2cWrite(0,0,0);
-  ms5611_init();
+  if (bmp280_init())
+    baro_type = BARO_BMP280;
+  else if (ms5611_init())
+    baro_type = BARO_MS5611;
+
   hmc5883lInit(_board_revision);
   mb1242_init();
   ms4525_init();
 
+
   // IMU
   uint16_t acc1G;
   mpu6050_init(true, &acc1G, &_gyro_scale, _board_revision);
@@ -183,14 +188,21 @@ bool Naze32::mag_check(void)
 
 void Naze32::baro_read(float *pressure, float *temperature)
 {
-  ms5611_async_update();
-  ms5611_async_read(pressure, temperature);
+  if (baro_type == BARO_BMP280)
+  {
+    bmp280_async_update();
+    bmp280_async_read(pressure, temperature);
+  }
+  else if (baro_type == BARO_MS5611)
+  {
+    ms5611_async_update();
+    ms5611_async_read(pressure, temperature);
+  }
 }
 
 bool Naze32::baro_check()
 {
-  ms5611_async_update();
-  return ms5611_present();
+  return baro_type != BARO_NONE;
 }
 
 bool Naze32::diff_pressure_check(void)

diff --git a/boards/naze/naze32.h b/boards/naze/naze32.h
@@ -63,6 +63,14 @@ class Naze32 : public Board
   };
   uint8_t sonar_type = SONAR_NONE;
 
+  enum
+  {
+    BARO_NONE,
+    BARO_BMP280,
+    BARO_MS5611
+  };
+  uint8_t baro_type = BARO_NONE;
+
 
 
 public:
+2 −0		.gitignore
+6 −1		breezystm32.h
+186 −0		drv_bmp280.c
+18 −0		drv_bmp280.h
+4 −3		drv_mb1242.c
+11 −37		drv_ms4525.c
+0 −2		drv_ms4525.h
+13 −30		drv_ms5611.c
+170 −0		examples/bmp280/Makefile
+59 −0		examples/bmp280/bmp280read.c
+1 −1		examples/i2csniff/Makefile
+2 −2		main.c