AP_Baro: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1

libraries/AP_Baro/AP_Baro_BMP085.cpp

@@ -28,20 +28,16 @@
 extern const AP_HAL::HAL& hal;
 
 #define BMP085_ADDRESS 0x77  //(0xEE >> 1)
-#define BMP085_EOC 30        // End of conversion pin PC7 on APM1
 
-// the apm2 hardware needs to check the state of the
-// chip using a direct IO port
-// On APM2 prerelease hw, the data ready port is hooked up to PE7, which
-// is not available to the arduino digitalRead function.
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-#define BMP_DATA_READY() hal.gpio->read(BMP085_EOC)
-#else
+#ifndef BMP085_EOC
 // No EOC connection from Baro
 // Use times instead.
 // Temp conversion time is 4.5ms
 // Pressure conversion time is 25.5ms (for OVERSAMPLING=3)
+#define BMP085_EOC -1
 #define BMP_DATA_READY() (BMP085_State == 0 ? hal.scheduler->millis() > (_last_temp_read_command_time + 5) : hal.scheduler->millis() > (_last_press_read_command_time + 26))
+#else
+#define BMP_DATA_READY() hal.gpio->read(BMP085_EOC)
 #endif
 
 // oversampling 3 gives 26ms conversion time. We then average
@@ -72,7 +68,9 @@ AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro) :
     }
 
     // End Of Conversion (PC7) input
-    hal.gpio->pinMode(BMP085_EOC, HAL_GPIO_INPUT);
+    if (BMP085_EOC >= 0) {
+        hal.gpio->pinMode(BMP085_EOC, HAL_GPIO_INPUT);
+    }
 
     // We read the calibration data registers
     if (hal.i2c->readRegisters(BMP085_ADDRESS, 0xAA, 22, buff) != 0) {

libraries/AP_Baro/AP_Baro_MS5611.cpp

@@ -384,10 +384,9 @@ void AP_Baro_MS5611::_calculate()
     // Formulas from manufacturer datasheet
     // sub -15c temperature compensation is not included
 
-    // we do the calculations using floating point
-    // as this is much faster on an AVR2560, and also allows
-    // us to take advantage of the averaging of D1 and D1 over
-    // multiple samples, giving us more precision
+    // we do the calculations using floating point allows us to take advantage
+    // of the averaging of D1 and D1 over multiple samples, giving us more
+    // precision
     dT = _D2-(((uint32_t)_C5)<<8);
     TEMP = (dT * _C6)/8388608;
     OFF = _C2 * 65536.0f + (_C4 * dT) / 128;
@@ -424,10 +423,9 @@ void AP_Baro_MS5607::_calculate()
     // Formulas from manufacturer datasheet
     // sub -15c temperature compensation is not included
 
-    // we do the calculations using floating point
-    // as this is much faster on an AVR2560, and also allows
-    // us to take advantage of the averaging of D1 and D1 over
-    // multiple samples, giving us more precision
+    // we do the calculations using floating point allows us to take advantage
+    // of the averaging of D1 and D1 over multiple samples, giving us more
+    // precision
     dT = _D2-(((uint32_t)_C5)<<8);
     TEMP = (dT * _C6)/8388608;
     OFF = _C2 * 131072.0f + (_C4 * dT) / 64;

libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp

@@ -18,12 +18,6 @@ void setup()
 
     hal.scheduler->delay(1000);
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-    // disable CS on MPU6000
-    hal.gpio->pinMode(63, HAL_GPIO_OUTPUT);
-    hal.gpio->write(63, 1);
-#endif
-
     barometer.init();
     barometer.calibrate();