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AP_Baro: move get_twos_complement() to AP_Math

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This commit is contained in:
Andy Piper 2025-02-24 15:22:16 +00:00
parent 7b29cade3f
commit 1b9b24e347
1 changed files with 2 additions and 12 deletions
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14
libraries/AP_Baro/AP_Baro_SPL06.cpp
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@ -107,16 +107,6 @@ AP_Baro_Backend *AP_Baro_SPL06::probe(AP_Baro &baro,
return sensor;
}
static int32_t get_twos_complement(uint32_t raw, uint8_t length)
{
if (raw & ((int)1 << (length - 1))) {
return ((int32_t)raw) - ((int32_t)1 << length);
}
else {
return raw;
}
}
bool AP_Baro_SPL06::_init()
{
if (!_dev) {
@ -187,7 +177,7 @@ bool AP_Baro_SPL06::_init()
#define READ_LENGTH 9
for (uint8_t i = 0; i < SPL06_CALIB_COEFFS_LEN; ) {
for (uint8_t i = 0; i < ARRAY_SIZE(buf); ) {
ssize_t chunk = MIN(READ_LENGTH, SPL06_CALIB_COEFFS_LEN - i);
if (!_dev->read_registers(SPL06_REG_CALIB_COEFFS_START + i, buf + i, chunk)) {
return false;
@ -224,7 +214,7 @@ bool AP_Baro_SPL06::_init()
// setup temperature and pressure measurements
_dev->setup_checked_registers(3, 20);
uint8_t tmp_sensor = (type == Type::SPA06 ? 0 : SPL06_TEMP_USE_EXT_SENSOR);
const uint8_t tmp_sensor = (type == Type::SPA06 ? 0 : SPL06_TEMP_USE_EXT_SENSOR);
#if AP_BARO_SPL06_BACKGROUND_ENABLE
//set rate and oversampling
_dev->write_register(SPL06_REG_TEMPERATURE_CFG, tmp_sensor | SPL06_TEMP_RATE_32HZ | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_TEMPERATURE_OVERSAMPLING), true);