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ina228: fix sign error on CURRENT reading (#19296)

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Jacob Dahl 2022-03-08 15:47:11 -09:00 committed by GitHub
parent b7e0f17c6a
commit 3e21efb721
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1 changed files with 6 additions and 1 deletions
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src/drivers/power_monitor/ina228/ina228.cpp
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@ -124,7 +124,12 @@ int INA228::read(uint8_t address, int32_t &data)
const int ret = transfer(&address, 1, (uint8_t *)&received_bytes, sizeof(received_bytes) - 1);
if (ret == PX4_OK) {
data = swap32(received_bytes) >> ((32 - 24) + 4);
data = swap32(received_bytes) >> ((32 - 24) + 4); // Convert to 20bit value
// Handle negative 20bit twos complement
if (data & 0x80000) {
data = -((0x000FFFFF & ~data) + 1);
}
} else {
perf_count(_comms_errors);