mirror of https://github.com/ArduPilot/ardupilot
AP_Baro: fixes for LPS2XH driver
use fractional temperature, and check status register to ensure we have data available
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@ -51,6 +51,8 @@ extern const AP_HAL::HAL &hal;
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#define LPS25H_FIFO_CTRL 0x2E
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#define TEMP_OUT_ADDR 0x2B
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#define PRESS_OUT_XL_ADDR 0x28
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#define STATUS_ADDR 0x27
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//putting 1 in the MSB of those two registers turns on Auto increment for faster reading.
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AP_Baro_LPS2XH::AP_Baro_LPS2XH(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
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@ -197,8 +199,17 @@ bool AP_Baro_LPS2XH::_check_whoami(void)
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// acumulate a new sensor reading
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void AP_Baro_LPS2XH::_timer(void)
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{
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uint8_t status;
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// use status to check if data is available
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if (!_dev->read_registers(STATUS_ADDR, &status, 1)) {
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return;
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}
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if (status & 0x02) {
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_update_temperature();
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}
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if (status & 0x01) {
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_update_pressure();
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}
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_has_sample = true;
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}
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@ -218,16 +229,18 @@ void AP_Baro_LPS2XH::update(void)
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void AP_Baro_LPS2XH::_update_temperature(void)
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{
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uint8_t pu8[2];
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_dev->read_registers(TEMP_OUT_ADDR, pu8, 2);
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if (!_dev->read_registers(TEMP_OUT_ADDR, pu8, 2)) {
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return;
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}
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int16_t Temp_Reg_s16 = (uint16_t)(pu8[1]<<8) | pu8[0];
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WITH_SEMAPHORE(_sem);
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if (_lps2xh_type == BARO_LPS25H) {
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_temperature=((float)(Temp_Reg_s16/480)+42.5f);
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_temperature = (Temp_Reg_s16 * (1.0/480)) + 42.5;
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}
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if (_lps2xh_type == BARO_LPS22H) {
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_temperature=(float)(Temp_Reg_s16/100);
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_temperature = Temp_Reg_s16 * 0.01;
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}
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}
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@ -235,7 +248,9 @@ void AP_Baro_LPS2XH::_update_temperature(void)
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void AP_Baro_LPS2XH::_update_pressure(void)
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{
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uint8_t pressure[3];
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_dev->read_registers(PRESS_OUT_XL_ADDR, pressure, 3);
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if (!_dev->read_registers(PRESS_OUT_XL_ADDR, pressure, 3)) {
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return;
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}
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int32_t Pressure_Reg_s32 = ((uint32_t)pressure[2]<<16)|((uint32_t)pressure[1]<<8)|(uint32_t)pressure[0];
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int32_t Pressure_mb = Pressure_Reg_s32 * (100.0f / 4096); // scale for pa
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