Copy the BMP085 back from next

flight/PiOS/Common/pios_bmp085.c

@@ -111,7 +111,7 @@ static const struct pios_exti_cfg pios_exti_bmp085_cfg __exti_config = {
 /**
 * Initialise the BMP085 sensor
 */
-void PIOS_BMP085_Init(const struct pios_bmp085_cfg * cfg)
+void PIOS_BMP085_Init(void)
 {
 #ifdef PIOS_BMP085_HAS_GPIOS
 
@@ -137,9 +137,11 @@ void PIOS_BMP085_Init(const struct pios_bmp085_cfg * cfg)
 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
 	GPIO_Init(PIOS_BMP085_XCLR_GPIO_PORT, &GPIO_InitStructure);
 
+#endif	/* PIOS_BMP085_HAS_GPIOS */
+
 	/* Read all 22 bytes of calibration data in one transfer, this is a very optimized way of doing things */
 	uint8_t Data[BMP085_CALIB_LEN];
-	while (PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN) != 0)
+	while (!PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN))
 		continue;
 
 	/* Parameters AC1-AC6 */
@@ -169,10 +171,10 @@ void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
 {
 	/* Start the conversion */
 	if (Type == TemperatureConv) {
-		while (PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR) != 0)
+		while (!PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR))
 			continue;
 	} else if (Type == PressureConv) {
-		while (PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR) != 0)
+		while (!PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR))
 			continue;
 	}
 
@@ -194,7 +196,7 @@ void PIOS_BMP085_ReadADC(void)
 	/* Read and store the 16bit result */
 	if (CurrentRead == TemperatureConv) {
 		/* Read the temperature conversion */
-		while (PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2) != 0)
+		while (!PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2))
 			continue;
 		RawTemperature = ((Data[0] << 8) | Data[1]);
 
@@ -204,7 +206,7 @@ void PIOS_BMP085_ReadADC(void)
 		Temperature = (B5 + 8) >> 4;
 	} else {
 		/* Read the pressure conversion */
-		while (PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3) != 0)
+		while (!PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3))
 			continue;
 		RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]) >> (8 - BMP085_OVERSAMPLING);
 
@@ -244,8 +246,10 @@ int32_t PIOS_BMP085_GetPressure(void)
 * \param[in] len number of bytes which should be read
 * \return 0 if operation was successful
 * \return -1 if error during I2C transfer
+* \return -2 if BMP085 blocked by another task (retry it!)
+* \return -4 if invalid length
 */
-int32_t PIOS_BMP085_Read(uint8_t address, uint8_t * buffer, uint8_t len)
+bool PIOS_BMP085_Read(uint8_t address, uint8_t * buffer, uint8_t len)
 {
 	uint8_t addr_buffer[] = {
 		address,
@@ -269,7 +273,7 @@ int32_t PIOS_BMP085_Read(uint8_t address, uint8_t * buffer, uint8_t len)
 		 }
 	};
 
-	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
+	return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list));
 }
 
 /**
@@ -278,8 +282,9 @@ int32_t PIOS_BMP085_Read(uint8_t address, uint8_t * buffer, uint8_t len)
 * \param[in] buffer source buffer
 * \return 0 if operation was successful
 * \return -1 if error during I2C transfer
+* \return -2 if BMP085 blocked by another task (retry it!)
 */
-int32_t PIOS_BMP085_Write(uint8_t address, uint8_t buffer)
+bool PIOS_BMP085_Write(uint8_t address, uint8_t buffer)
 {
 	uint8_t data[] = {
 		address,
@@ -297,37 +302,35 @@ int32_t PIOS_BMP085_Write(uint8_t address, uint8_t buffer)
 		,
 	};
 
-	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
+	return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list));
 }
 
 /**
 * @brief Run self-test operation.
-* \return 0 if self-test succeed, -1 if failed
+* \return 0 if self-test failed
+* \return any non-0 number if test passed
 */
 int32_t PIOS_BMP085_Test()
 {
 	// TODO: Is there a better way to test this than just checking that pressure/temperature has changed?
+	int32_t passed = 1;
 	int32_t cur_value = 0;
 
-	if(PIOS_BMP085_Read(BMP085_ADC_MSB, (uint8_t *) &cur_value, 1) != 0)
-		return -1;
-	return 0;
-			    
 	cur_value = Temperature;
 	PIOS_BMP085_StartADC(TemperatureConv);
 	PIOS_DELAY_WaitmS(5);
 	PIOS_BMP085_ReadADC();
 	if (cur_value == Temperature)
-		return -1;
+		passed = 0;
 
 	cur_value=Pressure;
 	PIOS_BMP085_StartADC(PressureConv);
 	PIOS_DELAY_WaitmS(26);
 	PIOS_BMP085_ReadADC();
 	if (cur_value == Pressure)
-		return -1;
+		passed = 0;
 
-	return 0;
+	return passed;
 }
 
 #endif /* PIOS_INCLUDE_BMP085 */

flight/PiOS/inc/pios_bmp085.h

@@ -7,7 +7,7 @@
  * @{
  *
  * @file       pios_bmp085.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      BMP085 functions header.
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -31,8 +31,6 @@
 #ifndef PIOS_BMP085_H
 #define PIOS_BMP085_H
 
-#include <pios.h>
-
 /* BMP085 Addresses */
 #define BMP085_I2C_ADDR			0x77
 #define BMP085_CALIB_ADDR		0xAA
@@ -71,18 +69,14 @@ extern xSemaphoreHandle PIOS_BMP085_EOC;
 extern int32_t PIOS_BMP085_EOC;
 #endif
 
-
-struct pios_bmp085_cfg {
-	static const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
-	uint32_t oversampling;
-};
-
 /* Public Functions */
-extern void PIOS_BMP085_Init(const struct pios_bmp085_cfg * cfg);
+extern void PIOS_BMP085_Init(void);
-extern int32_t PIOS_BMP085_StartADC(ConversionTypeTypeDef Type);
+extern void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type);
-extern int32_t PIOS_BMP085_ReadADC(void);
+extern void PIOS_BMP085_ReadADC(void);
 extern int16_t PIOS_BMP085_GetTemperature(void);
 extern int32_t PIOS_BMP085_GetPressure(void);
+extern bool PIOS_BMP085_Read(uint8_t address, uint8_t * buffer, uint8_t len);
+extern bool PIOS_BMP085_Write(uint8_t address, uint8_t buffer);
 extern int32_t PIOS_BMP085_Test();
 
 #endif /* PIOS_BMP085_H */