AP_Baro: added QURT driver

libraries/AP_Baro/AP_Baro.cpp

@@ -29,6 +29,7 @@
 #include "AP_Baro_MS5611.h"
 #include "AP_Baro_PX4.h"
 #include "AP_Baro_qflight.h"
+#include "AP_Baro_QURT.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -333,6 +334,11 @@ void AP_Baro::init(void)
         drivers[0] = new AP_Baro_QFLIGHT(*this);
         _num_drivers = 1;
     }
+#elif HAL_BARO_DEFAULT == HAL_BARO_QURT
+    {
+        drivers[0] = new AP_Baro_QURT(*this);
+        _num_drivers = 1;
+    }
 #endif
     if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == NULL) {
         AP_HAL::panic("Baro: unable to initialise driver");

libraries/AP_Baro/AP_Baro_QURT.cpp

@@ -0,0 +1,84 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "AP_Baro_QURT.h"
+
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
+
+extern const AP_HAL::HAL &hal;
+
+AP_Baro_QURT::AP_Baro_QURT(AP_Baro &baro)
+    : AP_Baro_Backend(baro)
+{
+    instance = _frontend.register_sensor();
+    hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Baro_QURT::timer, void));
+}
+
+/*
+  transfer data to the frontend
+ */
+void AP_Baro_QURT::update(void)
+{
+    if (count == 0) {
+        return;
+    }
+
+    if (lock.take(1)) {
+        float temperature = temp_sum / count;
+        float pressure = press_sum / count;
+
+        count = 0;
+        temp_sum = 0;
+        press_sum = 0;
+        
+        _copy_to_frontend(instance, pressure, temperature);
+        lock.give();
+    }
+}
+
+void AP_Baro_QURT::timer(void)
+{
+    if (handle == 0) {
+        int ret = bmp280_open("/dev/i2c-2", &handle);        
+        if (ret != 0) {
+            AP_HAL::panic("unable to open QURT baro");
+            return;
+        }
+        last_timer_ms = AP_HAL::millis();
+        return;
+    }
+    if (AP_HAL::millis() - last_timer_ms < 10) {
+        return;
+    }
+    if (lock.take(1)) {
+        last_timer_ms = AP_HAL::millis();
+        struct bmp280_sensor_data data;
+        int ret = bmp280_get_sensor_data(handle, &data, false);
+        if (ret != 0 || data.sensor_read_counter == last_counter) {
+            lock.give();
+            return;
+        }
+        last_counter = data.sensor_read_counter;
+        temp_sum += data.temperature_in_c;
+        press_sum += data.pressure_in_pa;
+        count++;
+        lock.give();
+    }
+}
+
+#endif // CONFIG_HAL_BOARD

libraries/AP_Baro/AP_Baro_QURT.h

@@ -0,0 +1,34 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+#pragma once
+
+#include "AP_Baro_Backend.h"
+#include <AP_HAL_QURT/Semaphores.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
+extern "C" {
+#include "bmp280_api.h"
+}
+
+class AP_Baro_QURT : public AP_Baro_Backend
+{
+public:
+    // Constructor
+    AP_Baro_QURT(AP_Baro &baro);
+
+    /* AP_Baro public interface: */
+    void update() override;
+
+private:
+    void timer(void);
+
+    uint32_t instance;
+    uint32_t handle;
+    uint32_t last_timer_ms;
+    uint64_t last_counter;
+    
+    uint32_t count;
+    float temp_sum;
+    float press_sum;
+    QURT::Semaphore lock;
+};
+#endif // CONFIG_HAL_BOARD