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[ardrone] Barometer bmp180 implementation added.

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Also fixed a bug in the navdata driver, where cropping was done twice.
Baro still needs to be tested, because sometimes unexpected things happen.
This commit is contained in:
Dino Hensen
2013-08-16 00:33:17 +02:00
committed by Felix Ruess
parent 9500cdfae5
commit 8e84c8ecbd
5 changed files with 144 additions and 17 deletions
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sw/airborne/boards/ardrone/navdata.c
+58 -3
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@@ -1,5 +1,5 @@
/*
* Copyright (C) 2012 Dino Hensen, Vincent van Hoek
* Copyright (C) 2013 Dino Hensen, Vincent van Hoek
*
* This file is part of Paparazzi.
*
@@ -72,6 +72,9 @@ int navdata_init()
uint8_t cmd=0x02;
write(nav_fd, &cmd, 1);
baro_calibrated = 0;
acquire_baro_calibration();
// start acquisition
cmd=0x01;
write(nav_fd, &cmd, 1);
@@ -90,6 +93,59 @@ int navdata_init()
return 0;
}
void acquire_baro_calibration()
{
read(nav_fd, NULL, 100); // read some potential dirt
// start baro calibration acquisition
uint8_t cmd=0x17; // send cmd 23
write(nav_fd, &cmd, 1);
uint8_t calibBuffer[22];
int calib_bytes_read, calib_bytes_left, readcount;
calib_bytes_read = 0;
calib_bytes_left = 22;
readcount = 0;
while(calib_bytes_read != 22) {
readcount = read(nav_fd, calibBuffer+(22-calib_bytes_left), calib_bytes_left);
if (readcount > 0) {
calib_bytes_read += readcount;
calib_bytes_left -= readcount;
}
}
baro_calibration.ac1 = calibBuffer[0] << 8 | calibBuffer[1];
baro_calibration.ac2 = calibBuffer[2] << 8 | calibBuffer[3];
baro_calibration.ac3 = calibBuffer[4] << 8 | calibBuffer[5];
baro_calibration.ac4 = calibBuffer[6] << 8 | calibBuffer[7];
baro_calibration.ac5 = calibBuffer[8] << 8 | calibBuffer[9];
baro_calibration.ac6 = calibBuffer[10] << 8 | calibBuffer[11];
baro_calibration.b1 = calibBuffer[12] << 8 | calibBuffer[13];
baro_calibration.b2 = calibBuffer[14] << 8 | calibBuffer[15];
baro_calibration.mb = calibBuffer[16] << 8 | calibBuffer[17];
baro_calibration.mc = calibBuffer[18] << 8 | calibBuffer[19];
baro_calibration.md = calibBuffer[20] << 8 | calibBuffer[21];
printf("Calibration bytes read: %d\n", calib_bytes_read);
printf("Calibration AC1: %d\n", baro_calibration.ac1);
printf("Calibration AC2: %d\n", baro_calibration.ac2);
printf("Calibration AC3: %d\n", baro_calibration.ac3);
printf("Calibration AC4: %d\n", baro_calibration.ac4);
printf("Calibration AC5: %d\n", baro_calibration.ac5);
printf("Calibration AC6: %d\n", baro_calibration.ac6);
printf("Calibration B1: %d\n", baro_calibration.b1);
printf("Calibration B2: %d\n", baro_calibration.b2);
printf("Calibration MB: %d\n", baro_calibration.mb);
printf("Calibration MC: %d\n", baro_calibration.mc);
printf("Calibration MD: %d\n", baro_calibration.md);
baro_calibrated = 1;
}
void navdata_close()
{
port->isOpen = 0;
@@ -146,7 +202,6 @@ void navdata_update()
pint = memchr(port->buffer, NAVDATA_START_BYTE, port->bytesRead);
if (pint != NULL) {
port->bytesRead -= pint - port->buffer;
navdata_CropBuffer(pint - port->buffer);
} else {
// if the start byte was not found, it means there is junk in the buffer
@@ -160,7 +215,7 @@ void navdata_CropBuffer(int cropsize)
{
if (port->bytesRead - cropsize < 0) {
// TODO think about why the amount of bytes read minus the cropsize gets below zero
printf("BytesRead - Cropsize may not be below zero...");
printf("BytesRead(=%d) - Cropsize(=%d) may not be below zero. port->buffer=%d\n", port->bytesRead, cropsize, port->buffer);
return;
}