From 70681f990f16ef82cdb0ad7163247e8fdd3306a8 Mon Sep 17 00:00:00 2001
From: Dennis Millard <49655137+dmillard-TD@users.noreply.github.com>
Date: Tue, 16 Apr 2019 20:53:16 -0600
Subject: [PATCH] BMI055 IMU driver fix temperature reporting
---
src/drivers/imu/bmi055/BMI055_accel.cpp | 18 +++++++++++-------
src/drivers/imu/bmi055/BMI055_gyro.cpp | 9 +++++++--
2 files changed, 18 insertions(+), 9 deletions(-)
diff --git a/src/drivers/imu/bmi055/BMI055_accel.cpp b/src/drivers/imu/bmi055/BMI055_accel.cpp
index 3a8820e4cc..bc3e2c1beb 100644
--- a/src/drivers/imu/bmi055/BMI055_accel.cpp
+++ b/src/drivers/imu/bmi055/BMI055_accel.cpp
@@ -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);
diff --git a/src/drivers/imu/bmi055/BMI055_gyro.cpp b/src/drivers/imu/bmi055/BMI055_gyro.cpp
index 275dba833d..aecb0ff6cd 100644
--- a/src/drivers/imu/bmi055/BMI055_gyro.cpp
+++ b/src/drivers/imu/bmi055/BMI055_gyro.cpp
@@ -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);
--
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