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AP_Baro: fix LPS22H on I2C

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This commit is contained in:
Pierre Kancir 2019-05-04 19:39:39 +02:00 committed by Andrew Tridgell
parent 2348fa4201
commit 3fa419e132
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_Baro/AP_Baro_LPS2XH.cpp
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@ -159,8 +159,13 @@ bool AP_Baro_LPS2XH::_init()
CallTime = 40 * AP_USEC_PER_MSEC;
}
if(_lps2xh_type == BARO_LPS22H){
_dev->write_register(LPS22H_CTRL_REG1,LPS22H_CTRL_REG1_ODR_75HZ|LPS22H_CTRL_REG1_BDU|LPS22H_CTRL_REG1_EN_LPFP|LPS22H_CTRL_REG1_LPFP_CFG);
_dev->write_register(LPS22H_CTRL_REG2,0x18);
_dev->write_register(LPS22H_CTRL_REG1, 0x00); // turn off for config
_dev->write_register(LPS22H_CTRL_REG1, LPS22H_CTRL_REG1_ODR_75HZ|LPS22H_CTRL_REG1_BDU|LPS22H_CTRL_REG1_EN_LPFP|LPS22H_CTRL_REG1_LPFP_CFG);
if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
_dev->write_register(LPS22H_CTRL_REG2, 0x18); // disable i2c
} else {
_dev->write_register(LPS22H_CTRL_REG2, 0x10);
}
// request 75Hz update
CallTime = 1000000/75;