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AP_Baro: Move initialisation code from MS56XX constructor to init()

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On MS5637 we will need to override the method to read and calculate the
PROM's crc. Thus we need a 2-phase init.

It also makes the constructor of AP_Baro_MS56XX protected since only the
derived classes should instantiate the base one.
This commit is contained in:
José Roberto de Souza 2015-11-04 20:17:38 -02:00 committed by Andrew Tridgell
parent 29791c9cec
commit 7457588d7c
2 changed files with 18 additions and 5 deletions
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18
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -183,6 +183,10 @@ AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_tim
_use_timer(use_timer), _use_timer(use_timer),
_D1(0.0f), _D1(0.0f),
_D2(0.0f) _D2(0.0f)
{
}
void AP_Baro_MS56XX::_init()
{ {
_instance = _frontend.register_sensor(); _instance = _frontend.register_sensor();
_serial->init(); _serial->init();
@ -385,8 +389,10 @@ void AP_Baro_MS56XX::update()
/* MS5611 class */ /* MS5611 class */
AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer) AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
:AP_Baro_MS56XX(baro, serial, use_timer) : AP_Baro_MS56XX(baro, serial, use_timer)
{} {
_init();
}
// Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100). // Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100).
void AP_Baro_MS5611::_calculate() void AP_Baro_MS5611::_calculate()
@ -425,8 +431,11 @@ void AP_Baro_MS5611::_calculate()
/* MS5607 Class */ /* MS5607 Class */
AP_Baro_MS5607::AP_Baro_MS5607(AP_Baro &baro, AP_SerialBus *serial, bool use_timer) AP_Baro_MS5607::AP_Baro_MS5607(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
:AP_Baro_MS56XX(baro, serial, use_timer) : AP_Baro_MS56XX(baro, serial, use_timer)
{} {
_init();
}
// Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100). // Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100).
void AP_Baro_MS5607::_calculate() void AP_Baro_MS5607::_calculate()
{ {
@ -466,6 +475,7 @@ void AP_Baro_MS5607::_calculate()
AP_Baro_MS5637::AP_Baro_MS5637(AP_Baro &baro, AP_SerialBus *serial, bool use_timer) AP_Baro_MS5637::AP_Baro_MS5637(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
: AP_Baro_MS56XX(baro, serial, use_timer) : AP_Baro_MS56XX(baro, serial, use_timer)
{ {
_init();
} }
// Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100). // Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100).

5
libraries/AP_Baro/AP_Baro_MS5611.h
View File

@ -75,12 +75,12 @@ private:
class AP_Baro_MS56XX : public AP_Baro_Backend class AP_Baro_MS56XX : public AP_Baro_Backend
{ {
public: public:
AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
void update(); void update();
void accumulate(); void accumulate();
private: private:
virtual void _calculate() = 0; virtual void _calculate() = 0;
AP_SerialBus *_serial; AP_SerialBus *_serial;
bool _check_crc(); bool _check_crc();
@ -98,6 +98,9 @@ private:
bool _use_timer; bool _use_timer;
protected: protected:
AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
void _init();
// Internal calibration registers // Internal calibration registers
uint16_t _C1,_C2,_C3,_C4,_C5,_C6; uint16_t _C1,_C2,_C3,_C4,_C5,_C6;
float _D1,_D2; float _D1,_D2;