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lsm303d: support temperature readings in lsm303d 

these are read at the same rate as the mag
This commit is contained in:
Andrew Tridgell 2015-03-17 13:39:39 +11:00
parent bba6f0ae1d
commit 374c50cab8
1 changed files with 15 additions and 2 deletions
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17
src/drivers/lsm303d/lsm303d.cpp
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@ -305,6 +305,9 @@ private:
float _last_accel[3];
uint8_t _constant_accel_count;
// last temperature value
float _last_temperature;
// this is used to support runtime checking of key
// configuration registers to detect SPI bus errors and sensor
// reset
@ -567,6 +570,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota
_accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_rotation(rotation),
_constant_accel_count(0),
_last_temperature(0),
_checked_next(0)
{
@ -711,7 +715,7 @@ LSM303D::reset()
/* enable mag */
write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T);
write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
@ -1507,6 +1511,9 @@ LSM303D::measure()
accel_report.timestamp = hrt_absolute_time();
// use the temperature from the last mag reading
accel_report.temperature = _last_temperature;
// report the error count as the sum of the number of bad
// register reads and bad values. This allows the higher level
// code to decide if it should use this sensor based on
@ -1588,6 +1595,7 @@ LSM303D::mag_measure()
#pragma pack(push, 1)
struct {
uint8_t cmd;
int16_t temperature;
uint8_t status;
int16_t x;
int16_t y;
@ -1603,7 +1611,7 @@ LSM303D::mag_measure()
/* fetch data from the sensor */
memset(&raw_mag_report, 0, sizeof(raw_mag_report));
raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT;
raw_mag_report.cmd = ADDR_OUT_TEMP_L | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report));
/*
@ -1642,6 +1650,10 @@ LSM303D::mag_measure()
mag_report.range_ga = (float)_mag_range_ga;
mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
// remember the temperature. The datasheet isn't clear, but it
// seems to be a signed offset from 25 degrees C in units of 0.125C
_last_temperature = 25 + (raw_mag_report.temperature*0.125f);
_mag_reports->force(&mag_report);
/* XXX please check this poll_notify, is it the right one? */
@ -1681,6 +1693,7 @@ LSM303D::print_info()
(unsigned)_checked_values[i]);
}
}
::printf("temperature: %.2f\n", _last_temperature);
}
void