Version modifié Polytech Paris Sud correction erreur de calcul sur la lib initiale
MS5607Base.h@0:5760862143d1, 2012-07-03 (annotated)
- Committer:
- yamaguch
- Date:
- Tue Jul 03 08:57:57 2012 +0000
- Revision:
- 0:5760862143d1
- Child:
- 1:b7fffbf481e2
0.92
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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yamaguch | 0:5760862143d1 | 1 | /* |
yamaguch | 0:5760862143d1 | 2 | Copyright (c) 2012, Senio Networks, Inc. |
yamaguch | 0:5760862143d1 | 3 | |
yamaguch | 0:5760862143d1 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
yamaguch | 0:5760862143d1 | 5 | of this software and associated documentation files (the "Software"), to deal |
yamaguch | 0:5760862143d1 | 6 | in the Software without restriction, including without limitation the rights |
yamaguch | 0:5760862143d1 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
yamaguch | 0:5760862143d1 | 8 | copies of the Software, and to permit persons to whom the Software is |
yamaguch | 0:5760862143d1 | 9 | furnished to do so, subject to the following conditions: |
yamaguch | 0:5760862143d1 | 10 | |
yamaguch | 0:5760862143d1 | 11 | The above copyright notice and this permission notice shall be included in |
yamaguch | 0:5760862143d1 | 12 | all copies or substantial portions of the Software. |
yamaguch | 0:5760862143d1 | 13 | |
yamaguch | 0:5760862143d1 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
yamaguch | 0:5760862143d1 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
yamaguch | 0:5760862143d1 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
yamaguch | 0:5760862143d1 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
yamaguch | 0:5760862143d1 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
yamaguch | 0:5760862143d1 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
yamaguch | 0:5760862143d1 | 20 | THE SOFTWARE. |
yamaguch | 0:5760862143d1 | 21 | */ |
yamaguch | 0:5760862143d1 | 22 | |
yamaguch | 0:5760862143d1 | 23 | #ifndef MS5607_BASE_H |
yamaguch | 0:5760862143d1 | 24 | #define MS5607_BASE_H |
yamaguch | 0:5760862143d1 | 25 | |
yamaguch | 0:5760862143d1 | 26 | class MS5607Base { |
yamaguch | 0:5760862143d1 | 27 | public: |
yamaguch | 0:5760862143d1 | 28 | void printCoefficients() { |
yamaguch | 0:5760862143d1 | 29 | printf("%d, %d, %d, %d, %d, %d\n", c1, c2, c3, c4, c5, c6); |
yamaguch | 0:5760862143d1 | 30 | } |
yamaguch | 0:5760862143d1 | 31 | |
yamaguch | 0:5760862143d1 | 32 | int getRawTemperature() { |
yamaguch | 0:5760862143d1 | 33 | return readADC(ADC_D2 | OSR_4096); |
yamaguch | 0:5760862143d1 | 34 | } |
yamaguch | 0:5760862143d1 | 35 | |
yamaguch | 0:5760862143d1 | 36 | int getRawPressure() { |
yamaguch | 0:5760862143d1 | 37 | return readADC(ADC_D1 | OSR_4096); |
yamaguch | 0:5760862143d1 | 38 | } |
yamaguch | 0:5760862143d1 | 39 | |
yamaguch | 0:5760862143d1 | 40 | float getTemperature() { |
yamaguch | 0:5760862143d1 | 41 | int dT = getRawTemperature() - (c5 << 8); |
yamaguch | 0:5760862143d1 | 42 | int temp = 2000 + ((dT * c6) >> 23); |
yamaguch | 0:5760862143d1 | 43 | |
yamaguch | 0:5760862143d1 | 44 | // 2nd order temperature compensation |
yamaguch | 0:5760862143d1 | 45 | if (temp < 2000) { |
yamaguch | 0:5760862143d1 | 46 | int t2 = (int64_t) dT * dT >> 31; |
yamaguch | 0:5760862143d1 | 47 | temp -= t2; |
yamaguch | 0:5760862143d1 | 48 | } |
yamaguch | 0:5760862143d1 | 49 | |
yamaguch | 0:5760862143d1 | 50 | return float(temp) / 100; |
yamaguch | 0:5760862143d1 | 51 | } |
yamaguch | 0:5760862143d1 | 52 | |
yamaguch | 0:5760862143d1 | 53 | float getPressure() { |
yamaguch | 0:5760862143d1 | 54 | int dT = getRawTemperature() - (c5 << 8); |
yamaguch | 0:5760862143d1 | 55 | int temp = 2000 + ((dT * c6) >> 23); |
yamaguch | 0:5760862143d1 | 56 | int64_t off = ((int64_t) c2 << 17) + ((int64_t) dT * c4 >> 6); |
yamaguch | 0:5760862143d1 | 57 | int64_t sens = ((int64_t) c1 << 16) + ((int64_t) dT * c3 >> 7); |
yamaguch | 0:5760862143d1 | 58 | |
yamaguch | 0:5760862143d1 | 59 | // 2nd order temperature compensation |
yamaguch | 0:5760862143d1 | 60 | if (temp < 2000) { |
yamaguch | 0:5760862143d1 | 61 | int64_t off2 = (int64_t) 61 * (temp - 2000) * (temp - 2000) >> 4; |
yamaguch | 0:5760862143d1 | 62 | int64_t sens2 = (int64_t) 2 * (temp - 2000) * (temp - 2000); |
yamaguch | 0:5760862143d1 | 63 | if (temp < -1500) { |
yamaguch | 0:5760862143d1 | 64 | off2 += (int64_t) 15 * (temp + 1500) * (temp + 1500); |
yamaguch | 0:5760862143d1 | 65 | sens2 += (int64_t) 8 * (temp + 1500) * (temp + 1500); |
yamaguch | 0:5760862143d1 | 66 | } |
yamaguch | 0:5760862143d1 | 67 | off -= off2; |
yamaguch | 0:5760862143d1 | 68 | sens -= sens2; |
yamaguch | 0:5760862143d1 | 69 | } |
yamaguch | 0:5760862143d1 | 70 | |
yamaguch | 0:5760862143d1 | 71 | return float((((int64_t) getRawPressure() * sens >> 21) - off) >> 15); |
yamaguch | 0:5760862143d1 | 72 | } |
yamaguch | 0:5760862143d1 | 73 | |
yamaguch | 0:5760862143d1 | 74 | float getAltitude(int presssure = 0) { |
yamaguch | 0:5760862143d1 | 75 | return toAltitude(presssure ? presssure : (int) getPressure()); |
yamaguch | 0:5760862143d1 | 76 | } |
yamaguch | 0:5760862143d1 | 77 | |
yamaguch | 0:5760862143d1 | 78 | protected: |
yamaguch | 0:5760862143d1 | 79 | int32_t c1, c2, c3, c4, c5, c6; |
yamaguch | 0:5760862143d1 | 80 | |
yamaguch | 0:5760862143d1 | 81 | enum { |
yamaguch | 0:5760862143d1 | 82 | RESET = 0x1E, |
yamaguch | 0:5760862143d1 | 83 | ADC_READ = 0x00, |
yamaguch | 0:5760862143d1 | 84 | ADC_CONV = 0x40, |
yamaguch | 0:5760862143d1 | 85 | ADC_D1 = 0x00, |
yamaguch | 0:5760862143d1 | 86 | ADC_D2 = 0x10, |
yamaguch | 0:5760862143d1 | 87 | OSR_256 = 0x00, |
yamaguch | 0:5760862143d1 | 88 | OSR_512 = 0x02, |
yamaguch | 0:5760862143d1 | 89 | OSR_1024 = 0x04, |
yamaguch | 0:5760862143d1 | 90 | OSR_2048 = 0x06, |
yamaguch | 0:5760862143d1 | 91 | OSR_4096 = 0x08, |
yamaguch | 0:5760862143d1 | 92 | PROM_READ = 0xA0 |
yamaguch | 0:5760862143d1 | 93 | }; |
yamaguch | 0:5760862143d1 | 94 | |
yamaguch | 0:5760862143d1 | 95 | virtual void writeCommand(int command, int ms = 0) = 0; |
yamaguch | 0:5760862143d1 | 96 | virtual int readPROM(int address) = 0; |
yamaguch | 0:5760862143d1 | 97 | virtual int readADC(int command) = 0; |
yamaguch | 0:5760862143d1 | 98 | |
yamaguch | 0:5760862143d1 | 99 | void init() { |
yamaguch | 0:5760862143d1 | 100 | writeCommand(RESET, 3); |
yamaguch | 0:5760862143d1 | 101 | c1 = readPROM(1); |
yamaguch | 0:5760862143d1 | 102 | c2 = readPROM(2); |
yamaguch | 0:5760862143d1 | 103 | c3 = readPROM(3); |
yamaguch | 0:5760862143d1 | 104 | c4 = readPROM(4); |
yamaguch | 0:5760862143d1 | 105 | c5 = readPROM(5); |
yamaguch | 0:5760862143d1 | 106 | c6 = readPROM(6); |
yamaguch | 0:5760862143d1 | 107 | } |
yamaguch | 0:5760862143d1 | 108 | |
yamaguch | 0:5760862143d1 | 109 | float toAltitude(int pressure) { |
yamaguch | 0:5760862143d1 | 110 | // Ref. 29124-AltimeterAppNote1.pdf |
yamaguch | 0:5760862143d1 | 111 | const float R = 287.052; // specific gas constant R*/M0 |
yamaguch | 0:5760862143d1 | 112 | const float g = 9.80665; // standard gravity |
yamaguch | 0:5760862143d1 | 113 | const float t_grad = 0.0065; // gradient of temperature |
yamaguch | 0:5760862143d1 | 114 | const float t0 = 273.15 + 15; // temperature at 0 altitude |
yamaguch | 0:5760862143d1 | 115 | const float p0 = 101325; // pressure at 0 altitude |
yamaguch | 0:5760862143d1 | 116 | |
yamaguch | 0:5760862143d1 | 117 | return t0 / t_grad * (1 - exp((t_grad * R / g) * log(pressure / p0))); |
yamaguch | 0:5760862143d1 | 118 | } |
yamaguch | 0:5760862143d1 | 119 | }; |
yamaguch | 0:5760862143d1 | 120 | |
yamaguch | 0:5760862143d1 | 121 | #endif |