Merged with fix/ms5607 branch and faster implementation

include/sta/drivers/MS56xx.hpp

@@ -3,6 +3,7 @@
 
 #include <sta/bus/spi/device.hpp>
 #include <sta/bus/i2c/device.hpp>
+#include <sta/time.hpp>
 
 #include <sta/endian.hpp>
 
@@ -115,6 +116,8 @@ namespace sta
          */
         bool init();
 
+        void delay();
+
         /**
          * @brief Set the oversampling rate.
          * 
@@ -128,14 +131,17 @@ namespace sta
          * @param type 
          * @param blocking 
          */
-        void requestData(DataType type, bool blocking = false);
+        void requestData(DataType type);
 
-        bool hasData(DataType type);
+        void requestPressure();
+
+        void requestTemperature();
 
         /**
          * @brief Reads the current pressure value from the sensor. Obtains the temperature value from the interal sensor.
          * 
          * @param unit Specifies the unit for the pressure measurement. Default is hPa.
+         * @param cachedTemp Specifies if a cached temperature value should be used.
          * @return int32_t The measured value in the specified unit.
          */
         float getPressure(Unit unit = Unit::hPa);
@@ -146,7 +152,7 @@ namespace sta
          * @return int32_t The measured temperature.
          * @note There are better sensors for temperature measurements than the MS56xx.
          */
-        int32_t getTemperature();
+        float getTemperature();
 
         /**
          * @brief Provide a reference pressure value at a reference altitude in order to estimate the sealevel pressure.
@@ -182,7 +188,7 @@ namespace sta
          * @note This code was taken from https://github.com/RobTillaart/MS5611
          * 
          */
-        void initConstants(bool mathMode = 0);
+        void initConstants();
 
         /**
          * @brief Convert the pressure value given in Pa to a different unit.
@@ -233,6 +239,11 @@ namespace sta
         OsrLevel osr_;
         Intf intf_;
 
+        float dT_;
+        float dTInit_;
+        bool pressReq_ = false;
+        bool tempReq_ = false;
+
         // Pressure at sealevel. Use the standard atmosphere per default.
         float sealevel_ = 1013.25;
 

src/MS56xx.cpp

@@ -42,14 +42,9 @@ namespace sta
         return true;
     }
 
-    void MS56xx::requestData()
+    void MS56xx::delay()
     {
-
+        delay_(osrDelay());
-    }
-
-    bool MS56xx::hasData()
-    {
-
     }
 
     void MS56xx::setOsr(OsrLevel osr)
@@ -63,67 +58,49 @@ namespace sta
         delay_(MS56xx::RESET_DELAY);
     }
 
-    void MS56xx::requestData(DataType type, bool blocking = false)
+    void MS56xx::requestData(DataType type)
     {
         Operations op = type == DataType::PRESSURE ? D1_CONVERSION : D2_CONVERSION;
 
         // Request the ADC to read new data.
         busCommand(op + 2*this->osr_);
+    }
 
-        if (blocking)
+    void MS56xx::requestPressure()
-        {
+    {
-            delay_(osrDelay());
+        requestData(PRESSURE);
-        }
+    }
+
+    void MS56xx::requestTemperature()
+    {
+        requestData(TEMPERATURE);
     }
 
     float MS56xx::getPressure(Unit unit /* = Unit::hPa */)
     {    
-        // Request the ADC to read pressure values.
-        requestData(PRESSURE, true);
-
         uint8_t buffer[3] = { 0x00, 0x00, 0x00 };
         busRead(MS56xx::Operations::ADC_RESULT, buffer, 3);
         uint32_t D1 = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
 
-        // Request the ADC to read temperature values.
+        float offset =  C_[2] + dT_ * C_[4];
-        requestData(PRESSURE, true);
+        float sens = C_[1] + dT_ * C_[3];
-
-        busRead(MS56xx::Operations::ADC_RESULT, buffer, 3);
-        uint32_t D2 = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
-
-        float dT = D2 - C_[5];
-        float temperature = 2000 + dT * C_[6];
-
-        float offset =  C_[2] + dT * C_[4];
-        float sens = C_[1] + dT * C_[3];
-
-        if (temperature < 2000)
-        {
-            float T2 = dT * dT * 4.6566128731E-10;
-            float t = (temperature - 2000) * (temperature - 2000);
-            float offset2 = 2.5 * t;
-            float sens2 = 1.25 * t;
-            //  COMMENT OUT < -1500 CORRECTION IF NOT NEEDED
-            if (temperature < -1500)
-            {
-                t = (temperature + 1500) * (temperature + 1500);
-                offset2 += 7 * t;
-                sens2 += 5.5 * t;
-            }
-            temperature -= T2;
-            offset -= offset2;
-            sens -= sens2;
-        }
 
         // The pressure in Pa.
-        float pressure = (D1 * sens * 4.76837158205E-7 - offset) * 3.051757813E-5;
+        float pressure = (D1 * sens * 4.76837158205E-7 - offset) * 3.051757813E-5 * 0.01;        
-        // pressure = convertPressure(pressure, unit);
+        // TODO: conversion
 
-        return pressure * 0.01;
+        return pressure;
     }
 
-    int32_t MS56xx::getTemperature() {
+    float MS56xx::getTemperature()
-       return 21.0f;
+    {
+		uint8_t buffer[3] = { 0x00, 0x00, 0x00 };
+		busRead(MS56xx::Operations::ADC_RESULT, buffer, 3);
+
+		uint32_t D2 = buffer[0] << 16 | buffer[1] << 8 | buffer[2];
+
+    	dT_ = D2 - C_[5];
+    	return 2000 + dT_ * C_[6] * 0.01;
     }
 
     void MS56xx::setPressureReference(float pressRef, float altRef, Unit unit /* = Unit::hPa */)
@@ -153,23 +130,15 @@ namespace sta
         }
     }
 
-    void MS56xx::initConstants(bool mathMode /* = 0 */)
+    void MS56xx::initConstants()
     {
         C_[0] = 1;
-        C_[1] = 32768L;          //  SENSt1   = C[1] * 2^15    |    * 2^16
+        C_[1] = 65536L;
-        C_[2] = 65536L;          //  OFFt1    = C[2] * 2^16    |    * 2^17
+        C_[2] = 131072;
-        C_[3] = 3.90625E-3;      //  TCS      = C[3] / 2^8     |    / 2^7
+        C_[3] = 7.8125E-3;
-        C_[4] = 7.8125E-3;       //  TCO      = C[4] / 2^7     |    / 2^6
+        C_[4] = 0.015625;
-        C_[5] = 256;             //  Tref     = C[5] * 2^8     |    * 2^8
+        C_[5] = 256;
-        C_[6] = 1.1920928955E-7; //  TEMPSENS = C[6] / 2^23    |    / 2^23
+        C_[6] = 1.1920928955E-7;
-
-        if (mathMode == 1)  //  Appnote version for pressure.
-        {
-            C_[1] = 65536L;          //  SENSt1
-            C_[2] = 131072L;         //  OFFt1
-            C_[3] = 7.8125E-3;       //  TCS
-            C_[4] = 1.5625e-2;       //  TCO
-        }
     }
 
     inline float MS56xx::convertPressure(float pressure, Unit unit)