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Added two filters to the RawTemp and RawPress values to increase accuracy from noisy temp sensor.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3242 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-09-04 17:47:50 +00:00
parent 5f8ac1d269
commit 58e9a913a1
2 changed files with 76 additions and 16 deletions
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52
libraries/APM_BMP085/APM_BMP085.cpp
View File

@ -47,9 +47,9 @@ extern "C" {
#define BMP085_EOC 30 // End of conversion pin PC7
// Constructors ////////////////////////////////////////////////////////////////
APM_BMP085_Class::APM_BMP085_Class()
{
}
//APM_BMP085_Class::APM_BMP085_Class()
//{
//}
// Public Methods //////////////////////////////////////////////////////////////
void APM_BMP085_Class::Init(int initialiseWireLib)
@ -172,6 +172,29 @@ void APM_BMP085_Class::ReadPress()
xlsb = Wire.receive();
RawPress = (((long)msb << 16) | ((long)lsb << 8) | ((long)xlsb)) >> (8 - oss);
if(_offset_press == 0){
_offset_press = RawPress;
RawPress = 0;
}else{
RawPress -= _offset_press;
}
// filter
_press_filter[_press_index++] = RawPress;
if(_press_index >= PRESS_FILTER_SIZE)
_press_index = 0;
RawPress = 0;
// sum our filter
for(uint8_t i = 0; i < PRESS_FILTER_SIZE; i++){
RawPress += _press_filter[i];
}
// grab result
//RawPress /= PRESS_FILTER_SIZE;
RawPress >>= 3;
RawPress += _offset_press;
}
// Send Command to Read Temperature
@ -201,6 +224,29 @@ void APM_BMP085_Class::ReadTemp()
tmp = Wire.receive();
RawTemp = RawTemp << 8 | tmp;
if(_offset_temp == 0){
_offset_temp = RawTemp;
RawTemp = 0;
}else{
RawTemp -= _offset_temp;
}
// filter
_temp_filter[_temp_index++] = RawTemp;
if(_temp_index >= TEMP_FILTER_SIZE)
_temp_index = 0;
RawTemp = 0;
// sum our filter
for(uint8_t i = 0; i < TEMP_FILTER_SIZE; i++){
RawTemp += _temp_filter[i];
}
// grab result
RawTemp >>= 4;
RawTemp += _offset_temp;
}
// Calculate Temperature and Pressure in real units.

40
libraries/APM_BMP085/APM_BMP085.h
View File

@ -1,22 +1,15 @@
#ifndef APM_BMP085_h
#define APM_BMP085_h
#define TEMP_FILTER_SIZE 16
#define PRESS_FILTER_SIZE 8
class APM_BMP085_Class
{
private:
// State machine
uint8_t BMP085_State;
// Internal calibration registers
int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
uint16_t ac4, ac5, ac6;
void Command_ReadPress();
void Command_ReadTemp();
void ReadPress();
void ReadTemp();
void Calculate();
public:
APM_BMP085_Class():
_temp_index(0),
_press_index(0){}; // Constructor
int32_t RawPress;
int32_t RawTemp;
int16_t Temp;
@ -25,9 +18,30 @@ class APM_BMP085_Class
uint8_t oss;
//int32_t Press0; // Pressure at sea level
APM_BMP085_Class(); // Constructor
void Init(int initialiseWireLib = 1);
uint8_t Read();
private:
// State machine
uint8_t BMP085_State;
// Internal calibration registers
int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
uint16_t ac4, ac5, ac6;
int _temp_filter[TEMP_FILTER_SIZE];
int _press_filter[PRESS_FILTER_SIZE];
long _offset_press;
long _offset_temp;
uint8_t _temp_index;
uint8_t _press_index;
void Command_ReadPress();
void Command_ReadTemp();
void ReadPress();
void ReadTemp();
void Calculate();
};
class APM_BMP085_HIL_Class