From 585147d5b7093af7d422a2284bbdbf326a6630cc Mon Sep 17 00:00:00 2001
From: Dennis Shtatnov <densht@gmail.com>
Date: Wed, 31 Aug 2016 19:15:43 -0400
Subject: [PATCH] Working LPS25H driver
---
src/drivers/lps25h/lps25h.cpp | 461 ++++++++----------------------
src/drivers/lps25h/lps25h.h | 2 +-
src/drivers/lps25h/lps25h_i2c.cpp | 2 +-
src/drivers/lps25h/lps25h_spi.cpp | 2 +-
4 files changed, 118 insertions(+), 349 deletions(-)
diff --git a/src/drivers/lps25h/lps25h.cpp b/src/drivers/lps25h/lps25h.cpp
index 8a1c7cd39f..f8134e5225 100644
--- a/src/drivers/lps25h/lps25h.cpp
+++ b/src/drivers/lps25h/lps25h.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -34,7 +34,7 @@
/**
* @file lps25h.cpp
*
- * Driver for the LPS25H magnetometer connected via I2C or SPI.
+ * Driver for the LPS25H barometer connected via I2C or SPI.
*/
#include <px4_config.h>
@@ -221,30 +221,21 @@ private:
unsigned _measure_ticks;
ringbuffer::RingBuffer *_reports;
- float _range_scale;
- float _range_pa;
bool _collect_phase;
- int _class_instance;
- int _orb_class_instance;
+
+ /* altitude conversion calibration */
+ unsigned _msl_pressure; /* in Pa */
orb_advert_t _baro_topic;
+ int _orb_class_instance;
+ int _class_instance;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
- perf_counter_t _range_errors;
- perf_counter_t _conf_errors;
-
- /* status reporting */
- bool _sensor_ok; /**< sensor was found and reports ok */
- bool _calibrated; /**< the calibration is valid */
struct baro_report _last_report; /**< used for info() */
- uint8_t _conf_reg;
- uint8_t _temperature_counter;
- uint8_t _temperature_error_count;
-
/**
* Initialise the automatic measurement state machine and start it.
*
@@ -274,15 +265,6 @@ private:
*/
int calibrate(struct file *filp, unsigned enable);
- /**
- * check the sensor configuration.
- *
- * checks that the config of the sensor is correctly set, to
- * cope with communication errors causing the configuration to
- * change
- */
- void check_conf(void);
-
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
@@ -336,35 +318,6 @@ private:
*/
int collect();
- /**
- * Convert a big-endian signed 16-bit value to a float.
- *
- * @param in A signed 16-bit big-endian value.
- * @return The floating-point representation of the value.
- */
- float meas_to_float(uint8_t in[2]);
-
- /**
- * Check the current calibration and update device status
- *
- * @return 0 if calibration is ok, 1 else
- */
- int check_calibration();
-
- /**
- * Check the current scale calibration
- *
- * @return 0 if scale calibration is ok, 1 else
- */
- int check_scale();
-
- /**
- * Check the current offset calibration
- *
- * @return 0 if offset calibration is ok, 1 else
- */
- int check_offset();
-
/* this class has pointer data members, do not allow copying it */
LPS25H(const LPS25H &);
LPS25H operator=(const LPS25H &);
@@ -382,23 +335,15 @@ LPS25H::LPS25H(device::Device *interface, const char *path) :
_work{},
_measure_ticks(0),
_reports(nullptr),
- _range_scale(0.00149536132f), /* default range scale from counts to gauss */
- _range_pa(49.f),
_collect_phase(false),
- _class_instance(-1),
- _orb_class_instance(-1),
+ _msl_pressure(101325),
_baro_topic(nullptr),
+ _orb_class_instance(-1),
+ _class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "lps25h_read")),
_comms_errors(perf_alloc(PC_COUNT, "lps25h_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "lps25h_buffer_overflows")),
- _range_errors(perf_alloc(PC_COUNT, "lps25h_range_errors")),
- _conf_errors(perf_alloc(PC_COUNT, "lps25h_conf_errors")),
- _sensor_ok(false),
- _calibrated(false),
- _last_report{0},
- _conf_reg(0),
- _temperature_counter(0),
- _temperature_error_count(0)
+ _last_report{0}
{
// enable debug() calls
_debug_enabled = false;
@@ -412,26 +357,26 @@ LPS25H::~LPS25H()
/* make sure we are truly inactive */
stop();
- if (_reports != nullptr) {
- delete _reports;
- }
-
if (_class_instance != -1) {
unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_instance);
}
+ if (_reports != nullptr) {
+ delete _reports;
+ }
+
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_buffer_overflows);
- perf_free(_range_errors);
- perf_free(_conf_errors);
+
+ delete _interface;
}
int
LPS25H::init()
{
- int ret = ERROR;
+ int ret;
ret = CDev::init();
@@ -441,60 +386,32 @@ LPS25H::init()
}
/* allocate basic report buffers */
- _reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
+ _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_baro_s));
if (_reports == nullptr) {
+ DEVICE_DEBUG("can't get memory for reports");
+ ret = -ENOMEM;
goto out;
}
- /* reset the device configuration */
- reset();
+ if (reset() != OK) {
+ goto out;
+ }
+ /* register alternate interfaces if we have to */
_class_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
ret = OK;
- /* sensor is ok, but not calibrated */
- _sensor_ok = true;
+
out:
return ret;
}
-/**
- check that the configuration register has the right value. This is
- done periodically to cope with I2C bus noise causing the
- configuration of the compass to change.
- */
-void LPS25H::check_conf(void)
-{
- /* TODO */
-
- /*
- int ret;
-
- uint8_t conf_reg_in = 0;
- ret = read_reg(ADDR_CNTL1, conf_reg_in);
-
- if (OK != ret) {
- perf_count(_comms_errors);
- return;
- }
-
- if (conf_reg_in | CNTL1_BIT) {
- perf_count(_conf_errors);
- ret = write_reg(ADDR_CNTL1, conf_reg_in | CNTL1_BIT);
-
- if (OK != ret) {
- perf_count(_comms_errors);
- }
- }
- */
-}
-
ssize_t
LPS25H::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct baro_report);
- struct baro_report *mag_buf = reinterpret_cast<struct baro_report *>(buffer);
+ struct baro_report *brp = reinterpret_cast<struct baro_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -504,15 +421,16 @@ LPS25H::read(struct file *filp, char *buffer, size_t buflen)
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
+
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
- if (_reports->get(mag_buf)) {
- ret += sizeof(struct baro_report);
- mag_buf++;
+ if (_reports->get(brp)) {
+ ret += sizeof(*brp);
+ brp++;
}
}
@@ -540,7 +458,7 @@ LPS25H::read(struct file *filp, char *buffer, size_t buflen)
break;
}
- if (_reports->get(mag_buf)) {
+ if (_reports->get(brp)) {
ret = sizeof(struct baro_report);
}
} while (0);
@@ -618,7 +536,7 @@ LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
return SENSOR_POLLRATE_MANUAL;
}
- return 1000000 / TICK2USEC(_measure_ticks);
+ return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
@@ -626,15 +544,14 @@ LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
}
- irqstate_t flags = irqsave();
+ irqstate_t flags = px4_enter_critical_section();
if (!_reports->resize(arg)) {
- irqrestore(flags);
+ px4_leave_critical_section(flags);
return -ENOMEM;
}
- irqrestore(flags);
-
+ px4_leave_critical_section(flags);
return OK;
}
@@ -644,13 +561,18 @@ LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCRESET:
return reset();
- case BAROIOCGMSLPRESSURE:
- // TODO
- return 0;
-
case BAROIOCSMSLPRESSURE:
- // TODO
- return 0;
+
+ /* range-check for sanity */
+ if ((arg < 80000) || (arg > 120000)) {
+ return -EINVAL;
+ }
+
+ _msl_pressure = arg;
+ return OK;
+
+ case BAROIOCGMSLPRESSURE:
+ return _msl_pressure;
case DEVIOCGDEVICEID:
return _interface->ioctl(cmd, dummy);
@@ -691,7 +613,7 @@ LPS25H::reset()
// Reset
ret = write_reg(ADDR_CTRL_REG2, CTRL_REG2_BOOT | CTRL_REG2_SWRESET);
- usleep(1000);
+ usleep(5000);
// Power on
ret = write_reg(ADDR_CTRL_REG1, CTRL_REG1_PD);
@@ -704,7 +626,7 @@ LPS25H::reset()
void
LPS25H::cycle_trampoline(void *arg)
{
- LPS25H *dev = (LPS25H *)arg;
+ LPS25H *dev = reinterpret_cast<LPS25H *>(arg);
dev->cycle();
}
@@ -768,7 +690,6 @@ LPS25H::measure()
*/
ret = write_reg(ADDR_CTRL_REG2, CTRL_REG2_ONE_SHOT);
-
if (OK != ret) {
perf_count(_comms_errors);
}
@@ -788,7 +709,6 @@ LPS25H::collect()
#pragma pack(pop)
int ret;
- uint8_t check_counter;
perf_begin(_sample_perf);
struct baro_report new_report;
@@ -805,22 +725,29 @@ LPS25H::collect()
* we're better off just never being early.
*/
- /* get measurements from the device */
- ret = _interface->read(ADDR_STATUS_REG, (uint8_t *)&report, sizeof(report));
+ /* get measurements from the device : MSB enables register address auto-increment */
+ ret = _interface->read(ADDR_STATUS_REG | (1 << 7), (uint8_t *)&report, sizeof(report));
if (ret != OK) {
perf_count(_comms_errors);
- DEVICE_DEBUG("data/status read error");
- goto out;
+ perf_end(_sample_perf);
+ return ret;
}
/* get measurements from the device */
new_report.temperature = 42.5 + (report.t / 480);
- /*
- * RAW outputs
- */
- new_report.pressure = report.p_xl + (report.p_l << 8) + (report.p_h << 16);
+ /* raw pressure */
+ uint32_t raw = report.p_xl + (report.p_l << 8) + (report.p_h << 16);
+
+ /* Pressure and MSL in mBar */
+ double p = raw / 4096.0;
+ double msl = _msl_pressure / 100.0;
+
+ double alt = (1.0 - pow(p / msl, 0.190263)) * 44330.8;
+
+ new_report.pressure = p;
+ new_report.altitude = alt;
if (!(_pub_blocked)) {
@@ -848,63 +775,13 @@ LPS25H::collect()
/* notify anyone waiting for data */
poll_notify(POLLIN);
- /*
- periodically check the range register and configuration
- registers. With a bad I2C cable it is possible for the
- registers to become corrupt, leading to bad readings. It
- doesn't happen often, but given the poor cables some
- vehicles have it is worth checking for.
- */
- check_counter = perf_event_count(_sample_perf) % 256;
-
- if (check_counter == 128) {
- check_conf();
- }
ret = OK;
-out:
perf_end(_sample_perf);
return ret;
}
-int LPS25H::calibrate(struct file *filp, unsigned enable)
-{
- int ret = 1;
-
- return ret;
-}
-
-int LPS25H::check_scale()
-{
- bool scale_valid = false;
-
- /* return 0 if calibrated, 1 else */
- return !scale_valid;
-}
-
-int LPS25H::check_offset()
-{
- bool offset_valid = false;
-
- return !offset_valid;
-}
-
-int LPS25H::check_calibration()
-{
- bool offset_valid = (check_offset() == OK);
- bool scale_valid = (check_scale() == OK);
-
- if (_calibrated != (offset_valid && scale_valid)) {
- warnx("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
- (offset_valid) ? "" : "offset invalid");
- _calibrated = (offset_valid && scale_valid);
- }
-
- /* return 0 if calibrated, 1 else */
- return (!_calibrated);
-}
-
int
LPS25H::write_reg(uint8_t reg, uint8_t val)
{
@@ -921,20 +798,6 @@ LPS25H::read_reg(uint8_t reg, uint8_t &val)
return ret;
}
-float
-LPS25H::meas_to_float(uint8_t in[2])
-{
- union {
- uint8_t b[2];
- int16_t w;
- } u;
-
- u.b[0] = in[1];
- u.b[1] = in[0];
-
- return (float) u.w;
-}
-
void
LPS25H::print_info()
{
@@ -943,7 +806,9 @@ LPS25H::print_info()
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("pressure %.2f\n", (double)_last_report.pressure);
+ printf("altitude: %.2f\n", (double)_last_report.altitude);
printf("temperature %.2f\n", (double)_last_report.temperature);
+
_reports->print_info("report queue");
}
@@ -984,9 +849,8 @@ bool start_bus(struct lps25h_bus_option &bus);
struct lps25h_bus_option &find_bus(enum LPS25H_BUS busid);
void test(enum LPS25H_BUS busid);
void reset(enum LPS25H_BUS busid);
-int info(enum LPS25H_BUS busid);
-int calibrate(enum LPS25H_BUS busid);
-int temp_enable(LPS25H_BUS busid, bool enable);
+void info();
+void calibrate(unsigned altitude, enum LPS25H_BUS busid);
void usage();
/**
@@ -1017,13 +881,14 @@ start_bus(struct lps25h_bus_option &bus)
int fd = open(bus.devpath, O_RDONLY);
- if (fd < 0) {
- return false;
+ /* set the poll rate to default, starts automatic data collection */
+ if (fd == -1) {
+ errx(1, "can't open baro device");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
close(fd);
- errx(1, "Failed to setup poll rate");
+ errx(1, "failed setting default poll rate");
}
close(fd);
@@ -1089,13 +954,14 @@ test(enum LPS25H_BUS busid)
struct lps25h_bus_option &bus = find_bus(busid);
struct baro_report report;
ssize_t sz;
- int ret = 0;
- const char *path = bus.devpath;
+ int ret;
- int fd = open(path, O_RDONLY);
+ int fd;
+
+ fd = open(bus.devpath, O_RDONLY);
if (fd < 0) {
- err(1, "%s open failed (try 'lps25h start')", path);
+ err(1, "open failed (try 'lps25h start' if the driver is not running)");
}
/* do a simple demand read */
@@ -1106,17 +972,12 @@ test(enum LPS25H_BUS busid)
}
warnx("single read");
- warnx("measurement: %.6f", (double)report.temperature);
+ warnx("pressure: %10.4f", (double)report.pressure);
+ warnx("altitude: %11.4f", (double)report.altitude);
+ warnx("temperature: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
- /* check if mag is onboard or external */
- //if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
- // errx(1, "failed to get if mag is onboard or external");
- //}
-
- warnx("device active: %s", ret ? "external" : "onboard");
-
- /* set the queue depth to 5 */
+ /* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
errx(1, "failed to set queue depth");
}
@@ -1147,58 +1008,23 @@ test(enum LPS25H_BUS busid)
}
warnx("periodic read %u", i);
- warnx("measurement: %.6f", (double)report.temperature);
+ warnx("pressure: %10.4f", (double)report.pressure);
+ warnx("altitude: %11.4f", (double)report.altitude);
+ warnx("temperature K: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
}
+ close(fd);
errx(0, "PASS");
}
/**
- * Automatic scale calibration.
- *
- * Basic idea:
- *
- * output = (ext field +- 1.1 Ga self-test) * scale factor
- *
- * and consequently:
- *
- * 1.1 Ga = (excited - normal) * scale factor
- * scale factor = (excited - normal) / 1.1 Ga
- *
- * sxy = (excited - normal) / 766 | for conf reg. B set to 0x60 / Gain = 3
- * sz = (excited - normal) / 713 | for conf reg. B set to 0x60 / Gain = 3
- *
- * By subtracting the non-excited measurement the pure 1.1 Ga reading
- * can be extracted and the sensitivity of all axes can be matched.
- *
- * SELF TEST OPERATION
- * To check the LPS25HL for proper operation, a self test feature in incorporated
- * in which the sensor offset straps are excited to create a nominal field strength
- * (bias field) to be measured. To implement self test, the least significant bits
- * (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias)
- * or 10 (negetive bias), e.g. 0x11 or 0x12.
- * Then, by placing the mode register into single-measurement mode (0x01),
- * two data acquisition cycles will be made on each magnetic vector.
- * The first acquisition will be a set pulse followed shortly by measurement
- * data of the external field. The second acquisition will have the offset strap
- * excited (about 10 mA) in the positive bias mode for X, Y, and Z axes to create
- * about a ±1.1 gauss self test field plus the external field. The first acquisition
- * values will be subtracted from the second acquisition, and the net measurement
- * will be placed into the data output registers.
- * Since self test adds ~1.1 Gauss additional field to the existing field strength,
- * using a reduced gain setting prevents sensor from being saturated and data registers
- * overflowed. For example, if the configuration register B is set to 0x60 (Gain=3),
- * values around +766 LSB (1.16 Ga * 660 LSB/Ga) will be placed in the X and Y data
- * output registers and around +713 (1.08 Ga * 660 LSB/Ga) will be placed in Z data
- * output register. To leave the self test mode, change MS1 and MS0 bit of the
- * configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10.
- * Using the self test method described above, the user can scale sensor
+ * Calculate actual MSL pressure given current altitude
*/
-int calibrate(enum LPS25H_BUS busid)
+void
+calibrate(unsigned altitude, enum LPS25H_BUS busid)
{
- int ret = 0;
struct lps25h_bus_option &bus = find_bus(busid);
const char *path = bus.devpath;
@@ -1208,13 +1034,9 @@ int calibrate(enum LPS25H_BUS busid)
err(1, "%s open failed (try 'lps25h start' if the driver is not running", path);
}
- //if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) {
- // warnx("failed to enable sensor calibration mode");
- //}
+ // TODO: Implement calibration
close(fd);
-
- return ret;
}
/**
@@ -1243,54 +1065,33 @@ reset(enum LPS25H_BUS busid)
exit(0);
}
-
/**
- * enable/disable temperature compensation
+ * Print a little info about the driver.
*/
-int
-temp_enable(enum LPS25H_BUS busid, bool enable)
+void
+info()
{
- struct lps25h_bus_option &bus = find_bus(busid);
- const char *path = bus.devpath;
+ for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
+ struct lps25h_bus_option &bus = bus_options[i];
- int fd = open(path, O_RDONLY);
-
- if (fd < 0) {
- err(1, "failed ");
+ if (bus.dev != nullptr) {
+ warnx("%s", bus.devpath);
+ bus.dev->print_info();
+ }
}
- //if (ioctl(fd, MAGIOCSTEMPCOMP, (unsigned)enable) < 0) {
- // err(1, "set temperature compensation failed");
- //}
-
- close(fd);
- return 0;
-}
-
-/**
- * Print a little info about the driver.
- */
-int
-info(enum LPS25H_BUS busid)
-{
- struct lps25h_bus_option &bus = find_bus(busid);
-
- warnx("running on bus: %u (%s)\n", (unsigned)bus.busid, bus.devpath);
- bus.dev->print_info();
exit(0);
}
void
usage()
{
- warnx("missing command: try 'start', 'info', 'test', 'reset', 'info', 'calibrate'");
+ warnx("missing command: try 'start', 'info', 'test', 'reset', 'calibrate'");
warnx("options:");
- warnx(" -R rotation");
- warnx(" -C calibrate on start");
- warnx(" -X only external bus");
-#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
- warnx(" -I only internal bus");
-#endif
+ warnx(" -X (external I2C bus)");
+ warnx(" -I (internal I2C bus)");
+ warnx(" -S (external SPI bus)");
+ warnx(" -s (internal SPI bus)");
}
} // namespace
@@ -1298,12 +1099,10 @@ usage()
int
lps25h_main(int argc, char *argv[])
{
- int ch;
enum LPS25H_BUS busid = LPS25H_BUS_ALL;
- bool calibrate = false;
- bool temp_compensation = false;
+ int ch;
- while ((ch = getopt(argc, argv, "XIS:CT")) != EOF) {
+ while ((ch = getopt(argc, argv, "XIS:")) != EOF) {
switch (ch) {
#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
@@ -1320,14 +1119,6 @@ lps25h_main(int argc, char *argv[])
busid = LPS25H_BUS_SPI;
break;
- case 'C':
- calibrate = true;
- break;
-
- case 'T':
- temp_compensation = true;
- break;
-
default:
lps25h::usage();
exit(0);
@@ -1341,18 +1132,6 @@ lps25h_main(int argc, char *argv[])
*/
if (!strcmp(verb, "start")) {
lps25h::start(busid);
-
- if (calibrate && lps25h::calibrate(busid) != 0) {
- errx(1, "calibration failed");
- }
-
- if (temp_compensation) {
- // we consider failing to setup temperature
- // compensation as non-fatal
- lps25h::temp_enable(busid, true);
- }
-
- exit(0);
}
/*
@@ -1369,35 +1148,25 @@ lps25h_main(int argc, char *argv[])
lps25h::reset(busid);
}
- /*
- * enable/disable temperature compensation
- */
- if (!strcmp(verb, "tempoff")) {
- lps25h::temp_enable(busid, false);
- }
-
- if (!strcmp(verb, "tempon")) {
- lps25h::temp_enable(busid, true);
- }
-
/*
* Print driver information.
*/
- if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
- lps25h::info(busid);
+ if (!strcmp(verb, "info")) {
+ lps25h::info();
}
/*
- * Autocalibrate the scaling
+ * Perform MSL pressure calibration given an altitude in metres
*/
if (!strcmp(verb, "calibrate")) {
- if (lps25h::calibrate(busid) == 0) {
- errx(0, "calibration successful");
-
- } else {
- errx(1, "calibration failed");
+ if (argc < 2) {
+ errx(1, "missing altitude");
}
+
+ long altitude = strtol(argv[optind + 1], nullptr, 10);
+
+ lps25h::calibrate(altitude, busid);
}
- errx(1, "unrecognized command, try 'start', 'test', 'reset' 'calibrate', 'tempoff', 'tempon' or 'info'");
+ errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}
diff --git a/src/drivers/lps25h/lps25h.h b/src/drivers/lps25h/lps25h.h
index 91a72dbf45..e6e90c8390 100644
--- a/src/drivers/lps25h/lps25h.h
+++ b/src/drivers/lps25h/lps25h.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
diff --git a/src/drivers/lps25h/lps25h_i2c.cpp b/src/drivers/lps25h/lps25h_i2c.cpp
index c5111e319b..e09dd38af1 100644
--- a/src/drivers/lps25h/lps25h_i2c.cpp
+++ b/src/drivers/lps25h/lps25h_i2c.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
diff --git a/src/drivers/lps25h/lps25h_spi.cpp b/src/drivers/lps25h/lps25h_spi.cpp
index c48a964b44..3ace32dd45 100644
--- a/src/drivers/lps25h/lps25h_spi.cpp
+++ b/src/drivers/lps25h/lps25h_spi.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
--
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