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AP_Baro: fixed some signed/unsigned warnings

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and a potential bug on timer wrap
This commit is contained in:
Andrew Tridgell 2012-02-13 21:39:18 +11:00
parent d574c78c2c
commit 804332c340
2 changed files with 13 additions and 13 deletions
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24
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -55,7 +55,7 @@
uint32_t AP_Baro_MS5611::_s_D1;
uint32_t AP_Baro_MS5611::_s_D2;
uint8_t AP_Baro_MS5611::_state;
long AP_Baro_MS5611::_timer;
uint32_t AP_Baro_MS5611::_timer;
bool AP_Baro_MS5611::_sync_access;
bool AP_Baro_MS5611::_updated;
@ -197,25 +197,25 @@ uint8_t AP_Baro_MS5611::read()
void AP_Baro_MS5611::_calculate()
{
int32_t dT;
long long TEMP; // 64 bits
long long OFF;
long long SENS;
long long P;
int64_t TEMP; // 64 bits
int64_t OFF;
int64_t SENS;
int64_t P;
// Formulas from manufacturer datasheet
// as per data sheet some intermediate results require over 32 bits, therefore
// we define parameters as 64 bits to prevent overflow on operations
// sub -20c temperature compensation is not included
dT = D2-((long)C5*256);
TEMP = 2000 + ((long long)dT * C6)/8388608;
OFF = (long long)C2 * 65536 + ((long long)C4 * dT ) / 128;
SENS = (long long)C1 * 32768 + ((long long)C3 * dT) / 256;
TEMP = 2000 + ((int64_t)dT * C6)/8388608;
OFF = (int64_t)C2 * 65536 + ((int64_t)C4 * dT ) / 128;
SENS = (int64_t)C1 * 32768 + ((int64_t)C3 * dT) / 256;
if (TEMP < 2000){ // second order temperature compensation
long long T2 = (long long)dT*dT / 2147483648;
long long Aux_64 = (TEMP-2000)*(TEMP-2000);
long long OFF2 = 5*Aux_64/2;
long long SENS2 = 5*Aux_64/4;
int64_t T2 = (((int64_t)dT)*dT) / 2147483648UL;
int64_t Aux_64 = (TEMP-2000)*(TEMP-2000);
int64_t OFF2 = 5*Aux_64/2;
int64_t SENS2 = 5*Aux_64/4;
TEMP = TEMP - T2;
OFF = OFF - OFF2;
SENS = SENS - SENS2;

2
libraries/AP_Baro/AP_Baro_MS5611.h
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@ -27,7 +27,7 @@ class AP_Baro_MS5611 : public AP_Baro
static bool _updated;
static uint32_t _s_D1, _s_D2;
static uint8_t _state;
static long _timer;
static uint32_t _timer;
/* Gates access to asynchronous state: */
static bool _sync_access;