AP_Baro: enable BMP085 on Linux

libraries/AP_Baro/AP_Baro_BMP085.cpp

@@ -49,28 +49,25 @@
 #include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 
 #include <AP_HAL.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE || defined(APM2_BETA_HARDWARE)
 #include "AP_Baro_BMP085.h"
 
 extern const AP_HAL::HAL& hal;
 
 #define BMP085_ADDRESS 0x77  //(0xEE >> 1)
-#define BMP085_EOC 30        // End of conversion pin PC7
+#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_APM2
-#define BMP_DATA_READY() (PINE&0x80)
-#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
-// No EOC connection from Baro on Flymaple
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
+#define BMP_DATA_READY() hal.gpio->read(BMP085_EOC)
+#else
+// No EOC connection from Baro
 // Use times instead.
 // Temp conversion time is 4.5ms
 // Pressure conversion time is 25.5ms (for OVERSAMPLING=3)
 #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
@@ -280,4 +277,4 @@ void AP_Baro_BMP085::Calculate()
         _count /= 2;
     }
 }
-#endif // CONFIG_HAL_BOARD
+

libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde

@@ -19,8 +19,10 @@
 #include <AP_Notify.h>
 
 #include <AP_HAL_AVR.h>
+#include <AP_HAL_FLYMAPLE.h>
+#include <AP_HAL_Linux.h>
+#include <AP_HAL_Empty.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 /* Build this example sketch only for the APM1. */
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
@@ -49,7 +51,7 @@ void loop()
     static uint32_t last_print;
 
     // accumulate values at 100Hz
-    if ((hal.scheduler->micros()- timer) > 20000L) {
+    if ((hal.scheduler->micros()- timer) > 10000L) {
 	    bmp085.accumulate();
 	    timer = hal.scheduler->micros();
     }
@@ -78,13 +80,7 @@ void loop()
 			    (unsigned)bmp085.get_pressure_samples());
         hal.console->println();
     }
+    hal.scheduler->delay(1);
 }
 
-#else // Non-APM1
-#warning AP_Baro_BMP085_test built as stub for APM2
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-void setup() {}
-void loop() {}
-#endif
-
 AP_HAL_MAIN();