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BMI055 IMU driver fix temperature reporting

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This commit is contained in:
Dennis Millard
2019-04-16 22:53:16 -04:00
committed by Daniel Agar
parent 3d36dbfba3
commit 70681f990f
2 changed files with 18 additions and 9 deletions
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src/drivers/imu/bmi055/BMI055_accel.cpp
+11 -7
View File
@@ -510,7 +510,7 @@ BMI055_accel::measure()
{
perf_count(_measure_interval);
uint8_t index = 0, accel_data[7];
uint8_t index = 0, accel_data[8];
uint16_t lsb, msb, msblsb;
uint8_t status_x, status_y, status_z;
@@ -523,7 +523,7 @@ BMI055_accel::measure()
int16_t accel_x;
int16_t accel_y;
int16_t accel_z;
int16_t temp;
int8_t temp;
} report;
/* start measuring */
@@ -560,6 +560,9 @@ BMI055_accel::measure()
msblsb = (msb << 8) | lsb;
report.accel_z = ((int16_t)msblsb >> 4); /* Data in Z axis */
// Byte
report.temp = accel_data[index];
// Checking the status of new data
if ((!status_x) || (!status_y) || (!status_z)) {
perf_end(_sample_perf);
@@ -571,9 +574,6 @@ BMI055_accel::measure()
_got_duplicate = false;
uint8_t temp = read_reg(BMI055_ACC_TEMP);
report.temp = temp;
if (report.accel_x == 0 &&
report.accel_y == 0 &&
report.accel_z == 0 &&
@@ -649,9 +649,13 @@ BMI055_accel::measure()
arb.scaling = _accel_range_scale;
_last_temperature = 23 + report.temp * 1.0f / 512.0f;
/*
* Temperature is reported as Eight-bit 2’s complement sensor temperature value
* with 0.5 °C/LSB sensitivity and an offset of 23.0 °C
*/
_last_temperature = (report.temp * 0.5f) + 23.0f;
arb.temperature = _last_temperature;
arb.device_id = _device_id.devid;
_accel_reports->force(&arb);
src/drivers/imu/bmi055/BMI055_gyro.cpp
+7 -2
View File
@@ -562,8 +562,7 @@ BMI055_gyro::measure()
check_registers();
uint8_t temp = read_reg(BMI055_ACC_TEMP);
int8_t temp = read_reg(BMI055_ACC_TEMP);
report.temp = temp;
report.gyro_x = bmi_gyroreport.gyro_x;
@@ -648,7 +647,13 @@ BMI055_gyro::measure()
grb.scaling = _gyro_range_scale;
/*
* Temperature is reported as Eight-bit 2’s complement sensor temperature value
* with 0.5 °C/LSB sensitivity and an offset of 23.0 °C
*/
_last_temperature = (report.temp * 0.5f) + 23.0f;
grb.temperature = _last_temperature;
grb.device_id = _device_id.devid;
_gyro_reports->force(&grb);