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hmc5883: read the temperature every 10 samples when enabled

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This commit is contained in:
Andrew Tridgell
2015-04-02 14:27:47 -07:00
committed by Lorenz Meier
parent 02639411ba
commit 219d661888
1 changed files with 33 additions and 19 deletions
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src/drivers/hmc5883/hmc5883.cpp
+33 -19
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@@ -182,6 +182,7 @@ private:
uint8_t _range_bits;
uint8_t _conf_reg;
uint8_t _temperature_counter;
uint8_t _temperature_error_count;
/**
@@ -371,6 +372,7 @@ HMC5883::HMC5883(device::Device *interface, const char *path, enum Rotation rota
_last_report{0},
_range_bits(0),
_conf_reg(0),
_temperature_counter(0),
_temperature_error_count(0)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
@@ -863,7 +865,6 @@ HMC5883::collect()
perf_begin(_sample_perf);
struct mag_report new_report;
bool sensor_is_onboard = false;
uint8_t raw_temperature[2];
float xraw_f;
float yraw_f;
@@ -908,26 +909,39 @@ HMC5883::collect()
/* get measurements from the device */
new_report.temperature = 0;
if (_conf_reg & HMC5983_TEMP_SENSOR_ENABLE) {
/* if temperature compensation is enabled read the
* temperature too */
ret = _interface->read(ADDR_TEMP_OUT_MSB,
raw_temperature, sizeof(raw_temperature));
if (ret == OK) {
int16_t temp16 = (((int16_t)raw_temperature[0]) << 8) +
raw_temperature[1];
new_report.temperature = 25 + (temp16 / (16*8.0f));
_temperature_error_count = 0;
} else {
_temperature_error_count++;
if (_temperature_error_count == 10) {
/*
it probably really is a old HMC5883,
and can't do temperature. Disable it
*/
/*
if temperature compensation is enabled read the
temperature too.
We read the temperature every 10 samples to avoid
excessive I2C traffic
*/
if (_temperature_counter++ == 10) {
uint8_t raw_temperature[2];
_temperature_counter = 0;
ret = _interface->read(ADDR_TEMP_OUT_MSB,
raw_temperature, sizeof(raw_temperature));
if (ret == OK) {
int16_t temp16 = (((int16_t)raw_temperature[0]) << 8) +
raw_temperature[1];
new_report.temperature = 25 + (temp16 / (16*8.0f));
_temperature_error_count = 0;
debug("disabling temperature compensation");
set_temperature_compensation(0);
} else {
_temperature_error_count++;
if (_temperature_error_count == 10) {
/*
it probably really is an old HMC5883,
and can't do temperature. Disable it
*/
_temperature_error_count = 0;
debug("disabling temperature compensation");
set_temperature_compensation(0);
}
}
} else {
new_report.temperature = _last_report.temperature;
}
}