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Code Issues Releases Activity

OP-1139: Add some more descriptive names and comments for compensation variables

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This commit is contained in:
Alessio Morale 2013-12-13 17:10:11 +01:00
parent 44269b6762
commit 29df9d6dad
1 changed files with 11 additions and 7 deletions
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18
flight/pios/common/pios_ms5611.c
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@ -51,7 +51,10 @@ static int64_t Temperature;
static int32_t lastConversionStart; static int32_t lastConversionStart;
static int32_t PIOS_MS5611_Read(uint8_t address, uint8_t *buffer, uint8_t len); static int32_t PIOS_MS5611_Read(uint8_t address, uint8_t *buffer, uint8_t len);
static int32_t PIOS_MS5611_WriteCommand(uint8_t command); static int32_t PIOS_MS5611_WriteCommand(uint8_t command);
static int64_t t2;
// Second order temperature compensation. Temperature offset
static int64_t compensation_t2;
// Move into proper driver structure with cfg stored // Move into proper driver structure with cfg stored
static uint32_t oversampling; static uint32_t oversampling;
static const struct pios_ms5611_cfg *dev_cfg; static const struct pios_ms5611_cfg *dev_cfg;
@ -74,8 +77,8 @@ void PIOS_MS5611_Init(const struct pios_ms5611_cfg *cfg, int32_t i2c_device)
uint8_t data[2]; uint8_t data[2];
// reset calibration values // reset temperature compensation values
t2 = 0; compensation_t2 = 0;
/* Calibration parameters */ /* Calibration parameters */
for (int i = 0; i < 6; i++) { for (int i = 0; i < 6; i++) {
@ -205,7 +208,7 @@ int32_t PIOS_MS5611_ReadADC(void)
if (Temperature < 2000) { if (Temperature < 2000) {
Offset2 = 5 * (Temperature - 2000) >> 1; Offset2 = 5 * (Temperature - 2000) >> 1;
Sens2 = Offset2 >> 1; Sens2 = Offset2 >> 1;
t2 = (deltaTemp * deltaTemp) >> 31; compensation_t2 = (deltaTemp * deltaTemp) >> 31;
// Apply the "Very low temperature compensation" when temp is less than -15°C // Apply the "Very low temperature compensation" when temp is less than -15°C
if (Temperature < -1500) { if (Temperature < -1500) {
int64_t tcorr = (Temperature + 1500) * (Temperature + 1500); int64_t tcorr = (Temperature + 1500) * (Temperature + 1500);
@ -213,9 +216,9 @@ int32_t PIOS_MS5611_ReadADC(void)
Sens2 += (11 * tcorr) >> 1; Sens2 += (11 * tcorr) >> 1;
} }
} else { } else {
t2 = 0; compensation_t2 = 0;
Offset2 = 0; Offset2 = 0;
Sens2 = 0; Sens2 = 0;
} }
RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]); RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]);
Offset = (((int64_t)CalibData.C[1]) << 16) + ((((int64_t)CalibData.C[3]) * deltaTemp) >> 7) - Offset2; Offset = (((int64_t)CalibData.C[1]) << 16) + ((((int64_t)CalibData.C[3]) * deltaTemp) >> 7) - Offset2;
@ -231,7 +234,8 @@ int32_t PIOS_MS5611_ReadADC(void)
*/ */
float PIOS_MS5611_GetTemperature(void) float PIOS_MS5611_GetTemperature(void)
{ {
return ((float)(Temperature - t2)) / 100.0f; // Apply the second order low and very low temperature compensation offset
return ((float)(Temperature - compensation_t2)) / 100.0f;
} }
/** /**