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AP_Baro: MS56XX: cosmetic changes to members

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- reorder and document members.
    - remove tentative of vertical alignement
    - like was done for accumulated values, move the calibration
      values to a struct
This commit is contained in:
Lucas De Marchi 2016-07-25 13:52:33 -03:00
parent f7b453359d
commit e217faacab
2 changed files with 28 additions and 24 deletions
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36
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -90,12 +90,12 @@ void AP_Baro_MS56XX::_init()
}
// Save factory calibration coefficients
_c1 = prom[1];
_c2 = prom[2];
_c3 = prom[3];
_c4 = prom[4];
_c5 = prom[5];
_c6 = prom[6];
_cal_reg.c1 = prom[1];
_cal_reg.c2 = prom[2];
_cal_reg.c3 = prom[3];
_cal_reg.c4 = prom[4];
_cal_reg.c5 = prom[5];
_cal_reg.c6 = prom[6];
// Send a command to read temperature first
_dev->transfer(&ADDR_CMD_CONVERT_TEMPERATURE, 1, nullptr, 0);
@ -328,10 +328,10 @@ void AP_Baro_MS5611::_calculate()
// we do the calculations using floating point allows us to take advantage
// of the averaging of D1 and D1 over multiple samples, giving us more
// precision
dT = _D2-(((uint32_t)_c5)<<8);
TEMP = (dT * _c6)/8388608;
OFF = _c2 * 65536.0f + (_c4 * dT) / 128;
SENS = _c1 * 32768.0f + (_c3 * dT) / 256;
dT = _D2-(((uint32_t)_cal_reg.c5)<<8);
TEMP = (dT * _cal_reg.c6)/8388608;
OFF = _cal_reg.c2 * 65536.0f + (_cal_reg.c4 * dT) / 128;
SENS = _cal_reg.c1 * 32768.0f + (_cal_reg.c3 * dT) / 256;
if (TEMP < 0) {
// second order temperature compensation when under 20 degrees C
@ -370,10 +370,10 @@ void AP_Baro_MS5607::_calculate()
// we do the calculations using floating point allows us to take advantage
// of the averaging of D1 and D1 over multiple samples, giving us more
// precision
dT = _D2-(((uint32_t)_c5)<<8);
TEMP = (dT * _c6)/8388608;
OFF = _c2 * 131072.0f + (_c4 * dT) / 64;
SENS = _c1 * 65536.0f + (_c3 * dT) / 128;
dT = _D2-(((uint32_t)_cal_reg.c5)<<8);
TEMP = (dT * _cal_reg.c6)/8388608;
OFF = _cal_reg.c2 * 131072.0f + (_cal_reg.c4 * dT) / 64;
SENS = _cal_reg.c1 * 65536.0f + (_cal_reg.c3 * dT) / 128;
if (TEMP < 0) {
// second order temperature compensation when under 20 degrees C
@ -409,10 +409,10 @@ void AP_Baro_MS5637::_calculate()
// Formulas from manufacturer datasheet
// sub -15c temperature compensation is not included
dT = raw_temperature - (((uint32_t)_c5) << 8);
TEMP = 2000 + ((int64_t)dT * (int64_t)_c6) / 8388608;
OFF = (int64_t)_c2 * (int64_t)131072 + ((int64_t)_c4 * (int64_t)dT) / (int64_t)64;
SENS = (int64_t)_c1 * (int64_t)65536 + ((int64_t)_c3 * (int64_t)dT) / (int64_t)128;
dT = raw_temperature - (((uint32_t)_cal_reg.c5) << 8);
TEMP = 2000 + ((int64_t)dT * (int64_t)_cal_reg.c6) / 8388608;
OFF = (int64_t)_cal_reg.c2 * (int64_t)131072 + ((int64_t)_cal_reg.c4 * (int64_t)dT) / (int64_t)64;
SENS = (int64_t)_cal_reg.c1 * (int64_t)65536 + ((int64_t)_cal_reg.c3 * (int64_t)dT) / (int64_t)128;
if (TEMP < 2000) {
// second order temperature compensation when under 20 degrees C

16
libraries/AP_Baro/AP_Baro_MS5611.h
View File

@ -49,12 +49,16 @@ protected:
} _accum;
uint8_t _state;
uint8_t _instance;
uint32_t _last_cmd_usec;
/* Last compensated values from accumulated sample */
float _D1, _D2;
// Internal calibration registers
uint16_t _c1,_c2,_c3,_c4,_c5,_c6;
float _D1, _D2;
uint8_t _instance;
struct {
uint16_t c1, c2, c3, c4, c5, c6;
} _cal_reg;
};
class AP_Baro_MS5611 : public AP_Baro_MS56XX
@ -62,7 +66,7 @@ class AP_Baro_MS5611 : public AP_Baro_MS56XX
public:
AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
protected:
void _calculate();
void _calculate() override;
};
class AP_Baro_MS5607 : public AP_Baro_MS56XX
@ -70,7 +74,7 @@ class AP_Baro_MS5607 : public AP_Baro_MS56XX
public:
AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
protected:
void _calculate();
void _calculate() override;
};
class AP_Baro_MS5637 : public AP_Baro_MS56XX
@ -78,6 +82,6 @@ class AP_Baro_MS5637 : public AP_Baro_MS56XX
public:
AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
protected:
void _calculate();
void _calculate() override;
bool _read_prom(uint16_t prom[8]) override;
};