eive/eive-obsw
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Fixed bugs in mag. field scaling math.
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This commit is contained in:
Leon Teichröb 2021-09-14 12:30:46 +02:00
parent aeb289b758
commit ca79f370b0
2 changed files with 10 additions and 10 deletions
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18
mission/devices/MGMHandlerLIS3MDL.cpp
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@ -346,24 +346,22 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
} }
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) { uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
bool FS0 = false; uint8_t getFullScale(uint8_t ctrlRegister2) {
bool FS1 = false; bool FS0_set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
if ((ctrlRegister2 >> 5) == 1) bool FS1_set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
FS0 = true;
if ((ctrlRegister2 >> 6) == 1) if (FS0_set && FS1_set)
FS1 = true;
if ((FS0 == true) && (FS1 == true))
return 16; return 16;
else if ((FS0 == false) && (FS1 == true)) else if (!FS0_set && FS1_set)
return 12; return 12;
else if ((FS0 == true) && (FS1 == false)) else if (FS0_set && !FS1_set)
return 8; return 8;
else else
return 4; return 4;
} }
float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) { float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) {
return (float) scale / (INT16_MAX); return (float)scale / (float)MGMLIS3MDL::FIELD_LSB_PER_GAUSS;
} }

2
mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
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@ -18,7 +18,9 @@ enum opMode {
/* Actually 15, we just round up a bit */ /* Actually 15, we just round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16; static constexpr size_t MAX_BUFFER_SIZE = 16;
/* Field data register scaling */
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100; static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
static constexpr uint16_t FIELD_LSB_PER_GAUSS = 27368;
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00; static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
static const DeviceCommandId_t SETUP_MGM = 0x01; static const DeviceCommandId_t SETUP_MGM = 0x01;