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update to Baro lib to remove temp filtering. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2569 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-18 05:08:48 +00:00
parent 0008f268af
commit b70d2d4c29
1 changed files with 41 additions and 44 deletions
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85
libraries/APM_BMP085/APM_BMP085.cpp
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@ -177,71 +177,68 @@ void APM_BMP085_Class::ReadPress()
// Send Command to Read Temperature
void APM_BMP085_Class::Command_ReadTemp()
{
Wire.beginTransmission(BMP085_ADDRESS);
Wire.send(0xF4);
Wire.send(0x2E);
Wire.endTransmission();
Wire.beginTransmission(BMP085_ADDRESS);
Wire.send(0xF4);
Wire.send(0x2E);
Wire.endTransmission();
}
// Read Raw Temperature values
void APM_BMP085_Class::ReadTemp()
{
byte tmp;
int16_t tmp2;
Wire.beginTransmission(BMP085_ADDRESS);
Wire.send(0xF6);
Wire.endTransmission();
Wire.beginTransmission(BMP085_ADDRESS);
Wire.requestFrom(BMP085_ADDRESS, 2);
Wire.requestFrom(BMP085_ADDRESS,2);
while(!Wire.available()); // wait
tmp2 = Wire.receive();
RawTemp = Wire.receive();
while(!Wire.available()); // wait
tmp = Wire.receive();
tmp2 = tmp2 << 8 | tmp;
if(RawTemp = 0)
RawTemp = tmp2;
RawTemp += tmp2;
RawTemp = RawTemp >> 1;
tmp = Wire.receive();
RawTemp = RawTemp << 8 | tmp;
}
// Calculate Temperature and Pressure in real units.
void APM_BMP085_Class::Calculate()
{
long x1, x2, x3, b3, b5, b6, p;
unsigned long b4, b7;
int32_t tmp;
long x1, x2, x3, b3, b5, b6, p;
unsigned long b4, b7;
int32_t tmp;
// See Datasheet page 13 for this formulas
// Based also on Jee Labs BMP085 example code. Thanks for share.
// Temperature calculations
x1 = ((long)RawTemp - ac6) * ac5 >> 15;
x2 = ((long) mc << 11) / (x1 + md);
b5 = x1 + x2;
Temp = (b5 + 8) >> 4;
// See Datasheet page 13 for this formulas
// Based also on Jee Labs BMP085 example code. Thanks for share.
// Temperature calculations
x1 = ((long)RawTemp - ac6) * ac5 >> 15;
x2 = ((long) mc << 11) / (x1 + md);
b5 = x1 + x2;
Temp = (b5 + 8) >> 4;
// Pressure calculations
b6 = b5 - 4000;
x1 = (b2 * (b6 * b6 >> 12)) >> 11;
x2 = ac2 * b6 >> 11;
x3 = x1 + x2;
//b3 = (((int32_t) ac1 * 4 + x3)<<oss + 2) >> 2; // BAD
//b3 = ((int32_t) ac1 * 4 + x3 + 2) >> 2; //OK for oss=0
tmp = ac1;
tmp = (tmp*4 + x3)<<oss;
b3 = (tmp+2)/4;
x1 = ac3 * b6 >> 13;
x2 = (b1 * (b6 * b6 >> 12)) >> 16;
x3 = ((x1 + x2) + 2) >> 2;
b4 = (ac4 * (uint32_t) (x3 + 32768)) >> 15;
b7 = ((uint32_t) RawPress - b3) * (50000 >> oss);
p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
// Pressure calculations
b6 = b5 - 4000;
x1 = (b2 * (b6 * b6 >> 12)) >> 11;
x2 = ac2 * b6 >> 11;
x3 = x1 + x2;
//b3 = (((int32_t) ac1 * 4 + x3)<<oss + 2) >> 2; // BAD
//b3 = ((int32_t) ac1 * 4 + x3 + 2) >> 2; //OK for oss=0
tmp = ac1;
tmp = (tmp*4 + x3)<<oss;
b3 = (tmp+2)/4;
x1 = ac3 * b6 >> 13;
x2 = (b1 * (b6 * b6 >> 12)) >> 16;
x3 = ((x1 + x2) + 2) >> 2;
b4 = (ac4 * (uint32_t) (x3 + 32768)) >> 15;
b7 = ((uint32_t) RawPress - b3) * (50000 >> oss);
p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
x1 = (p >> 8) * (p >> 8);
x1 = (x1 * 3038) >> 16;
x2 = (-7357 * p) >> 16;
Press = p + ((x1 + x2 + 3791) >> 4);
x1 = (p >> 8) * (p >> 8);
x1 = (x1 * 3038) >> 16;
x2 = (-7357 * p) >> 16;
Press = p + ((x1 + x2 + 3791) >> 4);
}
// Constructors ////////////////////////////////////////////////////////////////