diff --git a/src/shared/sensors/LPS28DFW/LPS28DFW.cpp b/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
index 4c41ed344521df3101056b0118f7b48d90cb588c..51df6d8586a3bb5044ee420aa0a208b414503be8 100644
--- a/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
+++ b/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
@@ -26,17 +26,18 @@
#include "LPS28DFWDefs.h"
+using namespace Boardcore::LPS28DFWDefs;
+
namespace Boardcore
{
LPS28DFW::LPS28DFW(I2C& i2c, SensorConfig sensorConfig)
- : i2cConfig{sensorConfig.sa0 ? LPS28DFWDefs::lsp28dfwAddress1
- : LPS28DFWDefs::lsp28dfwAddress0,
+ : i2cConfig{sensorConfig.sa0 ? lsp28dfwAddress1 : lsp28dfwAddress0,
I2CDriver::Addressing::BIT7, I2CDriver::Speed::MAX_SPEED},
i2c(i2c), sensorConfig(sensorConfig)
{
pressureSensitivity = (sensorConfig.fsr == FullScaleRange::FS_1260
- ? LPS28DFWDefs::pressureSensitivity1260hPa
- : LPS28DFWDefs::pressureSensitivity4060hPa);
+ ? pressureSensitivity1260hPa
+ : pressureSensitivity4060hPa);
}
bool LPS28DFW::init()
@@ -48,14 +49,6 @@ bool LPS28DFW::init()
return false;
}
- // Checking the whoami value to assure communication
- if (!selfTest())
- {
- LOG_ERR(logger, "Self-test failed");
- lastError = SELF_TEST_FAIL;
- return false;
- }
-
// Setting the actual sensor configurations (Mode, ODR, AVG, FSR, DRDY)
if (!setConfig(sensorConfig))
{
@@ -69,52 +62,16 @@ bool LPS28DFW::init()
return true;
}
-bool LPS28DFW::setConfig(const SensorConfig& newSensorConfig)
-{
- {
- // Setting the mode and checking for consistency in the settings. If
- // ONE_SHOT mode, other settings adapted to match this.
- uint8_t fifo_ctrl{0};
- switch (newSensorConfig.mode)
- {
- case Mode::ONE_SHOT_MODE:
- sensorConfig = {newSensorConfig.sa0, newSensorConfig.fsr,
- newSensorConfig.avg, Mode::ONE_SHOT_MODE,
- ODR::ONE_SHOT, false};
- fifo_ctrl |= LPS28DFWDefs::FIFO_CTRL::BYPASS;
- break;
- case Mode::CONTINUOUS_MODE:
- sensorConfig = newSensorConfig;
- fifo_ctrl |= LPS28DFWDefs::FIFO_CTRL::CONTINUOUS;
- break;
- default:
- LOG_ERR(logger, "Mode not supported");
- break;
- }
-
- if (!i2c.writeRegister(i2cConfig, LPS28DFWDefs::FIFO_CTRL_addr,
- fifo_ctrl))
- {
- lastError = BUS_FAULT;
- return false;
- }
- }
-
- if (!(setFullScaleRange(sensorConfig.fsr) && setAverage(sensorConfig.avg) &&
- setOutputDataRate(sensorConfig.odr) &&
- setDRDYInterrupt(sensorConfig.drdy)))
- {
- LOG_ERR(logger, "Sensor not configured");
- return false;
- }
-
- return true;
-}
-
bool LPS28DFW::selfTest()
{
// Since the sensor doesn't provide any self-test feature we just try to
// probe the sensor and read his whoami register.
+ if (!isInitialized)
+ {
+ LOG_ERR(logger, "Invoked selfTest() but sensor was uninitialized");
+ lastError = NOT_INIT;
+ return false;
+ }
// Trying to probe the sensor to check if it is connected
if (!i2c.probe(i2cConfig))
@@ -127,7 +84,7 @@ bool LPS28DFW::selfTest()
// Reading the whoami value to assure communication
uint8_t whoamiValue{0};
- if (!i2c.readRegister(i2cConfig, LPS28DFWDefs::WHO_AM_I, whoamiValue))
+ if (!i2c.readRegister(i2cConfig, WHO_AM_I_addr, whoamiValue))
{
LOG_ERR(logger, "Can't communicate with the sensor");
lastError = BUS_FAULT;
@@ -135,12 +92,12 @@ bool LPS28DFW::selfTest()
}
// Checking the whoami value to assure correct communication
- if (whoamiValue != LPS28DFWDefs::WHO_AM_I_VALUE)
+ if (whoamiValue != WHO_AM_I_VALUE)
{
LOG_ERR(logger,
"WHO_AM_I value differs from expectation: read 0x{02x} "
"but expected 0x{02x}",
- whoamiValue, LPS28DFWDefs::WHO_AM_I_VALUE);
+ whoamiValue, WHO_AM_I_VALUE);
lastError = INVALID_WHOAMI;
return false;
}
@@ -148,14 +105,38 @@ bool LPS28DFW::selfTest()
return true;
}
+bool LPS28DFW::setConfig(const SensorConfig& newSensorConfig)
+{
+ // Setting the FIFO_CTRL register to the correct mode (according to the
+ // ODR set: BYPASS for the one shot mode and CONTINUOUS for the
+ // continuous mode).
+ if (!i2c.writeRegister(
+ i2cConfig, FIFO_CTRL_addr,
+ (newSensorConfig.odr == ODR::ONE_SHOT ? FIFO_CTRL::BYPASS
+ : FIFO_CTRL::CONTINUOUS)))
+ {
+ lastError = BUS_FAULT;
+ return false;
+ }
+
+ if (!(setFullScaleRange(sensorConfig.fsr) && setAverage(sensorConfig.avg) &&
+ setOutputDataRate(sensorConfig.odr) &&
+ setDRDYInterrupt(sensorConfig.drdy)))
+ {
+ LOG_ERR(logger, "Sensor not configured");
+ return false;
+ }
+
+ return true;
+}
+
bool LPS28DFW::setAverage(AVG avg)
{
// Since the CTRL_REG1 contains only the AVG and ODR settings, we use the
// internal driver state to set the register with the wanted ODR and AVG
// without previously reading it. This allows to avoid a useless
// transaction.
- if (!i2c.writeRegister(i2cConfig, LPS28DFWDefs::CTRL_REG1_addr,
- sensorConfig.odr | avg))
+ if (!i2c.writeRegister(i2cConfig, CTRL_REG1_addr, sensorConfig.odr | avg))
{
lastError = BUS_FAULT;
return false;
@@ -171,8 +152,7 @@ bool LPS28DFW::setOutputDataRate(ODR odr)
// internal driver state to set the register with the wanted ODR and AVG
// without previously reading it. This allows to avoid a useless
// transaction.
- if (!i2c.writeRegister(i2cConfig, LPS28DFWDefs::CTRL_REG1_addr,
- odr | sensorConfig.avg))
+ if (!i2c.writeRegister(i2cConfig, CTRL_REG1_addr, odr | sensorConfig.avg))
{
lastError = BUS_FAULT;
return false;
@@ -185,7 +165,7 @@ bool LPS28DFW::setOutputDataRate(ODR odr)
bool LPS28DFW::setFullScaleRange(FullScaleRange fs)
{
uint8_t ctrl_reg2;
- if (!i2c.readRegister(i2cConfig, LPS28DFWDefs::CTRL_REG2_addr, ctrl_reg2))
+ if (!i2c.readRegister(i2cConfig, CTRL_REG2_addr, ctrl_reg2))
{
lastError = BUS_FAULT;
return false;
@@ -193,16 +173,16 @@ bool LPS28DFW::setFullScaleRange(FullScaleRange fs)
if (fs == FullScaleRange::FS_1260)
{
- pressureSensitivity = LPS28DFWDefs::pressureSensitivity1260hPa;
- ctrl_reg2 = (ctrl_reg2 & ~LPS28DFWDefs::CTRL_REG2::FS_MODE);
+ pressureSensitivity = pressureSensitivity1260hPa;
+ ctrl_reg2 = (ctrl_reg2 & ~CTRL_REG2::FS_MODE);
}
else
{
- pressureSensitivity = LPS28DFWDefs::pressureSensitivity4060hPa;
- ctrl_reg2 = (ctrl_reg2 | LPS28DFWDefs::CTRL_REG2::FS_MODE);
+ pressureSensitivity = pressureSensitivity4060hPa;
+ ctrl_reg2 = (ctrl_reg2 | CTRL_REG2::FS_MODE);
}
- if (!i2c.writeRegister(i2cConfig, LPS28DFWDefs::CTRL_REG2_addr, ctrl_reg2))
+ if (!i2c.writeRegister(i2cConfig, CTRL_REG2_addr, ctrl_reg2))
{
lastError = BUS_FAULT;
return false;
@@ -214,9 +194,8 @@ bool LPS28DFW::setFullScaleRange(FullScaleRange fs)
bool LPS28DFW::setDRDYInterrupt(bool drdy)
{
- if (!i2c.writeRegister(
- i2cConfig, LPS28DFWDefs::CTRL_REG4_addr,
- (drdy ? (LPS28DFWDefs::INT_EN | LPS28DFWDefs::DRDY) : 0)))
+ if (!i2c.writeRegister(i2cConfig, CTRL_REG4_addr,
+ (drdy ? (INT_EN | DRDY) : 0)))
{
lastError = BUS_FAULT;
return false;
@@ -242,76 +221,85 @@ float LPS28DFW::convertTemperature(uint8_t tempL, uint8_t tempH)
{
// Temperature conversion
int16_t temp_temp = (tempH << 8) | (tempL << 0);
- return ((float)temp_temp) / LPS28DFWDefs::temperatureSensitivity;
+ return ((float)temp_temp) / temperatureSensitivity;
}
LPS28DFWData LPS28DFW::sampleImpl()
{
- uint8_t status = 0;
+ uint8_t statusValue{0};
uint8_t val[5] = {0};
LPS28DFWData data;
- lastError = NO_ERRORS;
- data.pressureTimestamp = data.temperatureTimestamp =
- TimestampTimer::getTimestamp();
+ lastError = NO_ERRORS;
- if (sensorConfig.mode == Mode::ONE_SHOT_MODE)
+ if (sensorConfig.odr == ODR::ONE_SHOT)
{
uint8_t ctrl_reg2_val{0};
- // Reading always 5 bytes because in one-shot mode the sensor samples
- // both pressure and temperature
- if (!(i2c.readRegister(i2cConfig, LPS28DFWDefs::CTRL_REG2_addr,
- ctrl_reg2_val) &&
- i2c.writeRegister(
- i2cConfig, LPS28DFWDefs::CTRL_REG2_addr,
- ctrl_reg2_val | LPS28DFWDefs::CTRL_REG2::ONE_SHOT_START) &&
- i2c.readFromRegister(i2cConfig, LPS28DFWDefs::PRESS_OUT_XL_addr,
- val, 5)))
+ // Triggering sampling
+ if (!(i2c.readRegister(i2cConfig, CTRL_REG2_addr, ctrl_reg2_val) &&
+ i2c.writeRegister(i2cConfig, CTRL_REG2_addr,
+ ctrl_reg2_val | CTRL_REG2::ONE_SHOT_START)))
{
lastError = BUS_FAULT;
return lastSample;
}
- data.pressure = convertPressure(val[0], val[1], val[2]);
- data.temperature = convertTemperature(val[3], val[4]);
-
- return data;
+ // Poll status register until the sample is ready
+ do
+ {
+ if (!i2c.readRegister(i2cConfig, STATUS_addr, statusValue))
+ {
+ lastError = BUS_FAULT;
+ return lastSample;
+ }
+ } while ((statusValue & (STATUS::P_DA | STATUS::T_DA)) !=
+ (STATUS::P_DA | STATUS::T_DA));
}
-
- if (!i2c.readRegister(i2cConfig, LPS28DFWDefs::STATUS_addr, status))
+ else
{
- lastError = BUS_FAULT;
- return lastSample;
+ // read status register value
+ if (!i2c.readRegister(i2cConfig, STATUS_addr, statusValue))
+ {
+ lastError = BUS_FAULT;
+ return lastSample;
+ }
}
- // If pressure new data present
- if (!(status & LPS28DFWDefs::STATUS::P_DA))
- {
- lastError = NO_NEW_DATA;
- return lastSample;
- }
+ auto ts = TimestampTimer::getTimestamp();
// reading 5 bytes if also Temperature new sample, otherwise only the 3
// pressure bytes
- if (!i2c.readFromRegister(i2cConfig, LPS28DFWDefs::PRESS_OUT_XL_addr, val,
- ((status & LPS28DFWDefs::STATUS::T_DA) ? 5 : 3)))
+ if (!i2c.readFromRegister(i2cConfig, PRESS_OUT_XL_addr, val,
+ ((statusValue & STATUS::T_DA) ? 5 : 3)))
{
lastError = BUS_FAULT;
return lastSample;
}
- data.pressure = convertPressure(val[0], val[1], val[2]);
+ // If pressure new data present
+ if (statusValue & STATUS::P_DA)
+ {
+ data.pressureTimestamp = ts;
+ data.pressure = convertPressure(val[0], val[1], val[2]);
+ }
+ else
+ {
+ lastError = NO_NEW_DATA;
+ data.pressureTimestamp = lastSample.pressureTimestamp;
+ data.pressure = lastSample.pressure;
+ }
// If temperature new data present
- if (status & LPS28DFWDefs::STATUS::T_DA)
+ if (statusValue & STATUS::T_DA)
{
- data.temperature = convertTemperature(val[3], val[4]);
+ data.temperatureTimestamp = ts;
+ data.temperature = convertTemperature(val[3], val[4]);
}
else
{
- data.temperature = lastSample.temperature;
data.temperatureTimestamp = lastSample.temperatureTimestamp;
+ data.temperature = lastSample.temperature;
}
return data;
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFW.h b/src/shared/sensors/LPS28DFW/LPS28DFW.h
index 1f52ef259dfe40cf1f93b97bd90d1e1c1fcfc4f2..33012760c5b6eeac46f921c3bee81ab5af94ccd0 100644
--- a/src/shared/sensors/LPS28DFW/LPS28DFW.h
+++ b/src/shared/sensors/LPS28DFW/LPS28DFW.h
@@ -48,9 +48,11 @@ public:
};
/**
- * @brief Enumeration for the output data rate to set on the sensor.
+ * @brief Enumeration for Output Data Rate Configuration.
+ *
* Available are One shot (only one sample calculated when signal sent), 1
- * Hz to 200 Hz.
+ * Hz to 200 Hz. ODR configuration is valid for both pressure and
+ * temperature.
*/
enum ODR : uint8_t
{
@@ -66,9 +68,14 @@ public:
};
/**
- * @brief Enumeration for the oversampling to set on the sensor. The value
- * read from the sensor will actually be the average of multiple samples.
- * Available are from 4 to 512 averaged samples.
+ * @brief Enumeration for the oversampling to set on the sensor.
+ *
+ * The value read from the sensor will actually be the average of multiple
+ * samples. Available are from 4 to 512 averaged samples.
+ *
+ * @warning For an AGV value of 512, 128, 64 the maximum ODR values are
+ * respectively of 25, 75 and 100 Hz. For any other AVG value all ODR
+ * configurations are possible.
*/
enum AVG : uint8_t
{
@@ -81,17 +88,6 @@ public:
AVG_512 = 0b111
};
- /**
- * @brief Working mode of the sensor. Available ones are one shot mode
- * (samples acquired by the sensors only upon an explicit request) and
- * continuous mode (samples calculated continuously).
- */
- enum Mode
- {
- ONE_SHOT_MODE, // BYPASS, ODR = ONE_SHOT
- CONTINUOUS_MODE // BYPASS, ODR = odr
- };
-
/**
* @brief Struct that sums up all the settings of the sensor.
*/
@@ -101,7 +97,6 @@ public:
///< the sensor is connected to GND or VDD (3.3V, not 5V!).
FullScaleRange fsr; ///< Full scale range
AVG avg; ///< Average avg samples
- Mode mode; ///< Mode of operation
ODR odr; ///< Output data rate
bool drdy; ///< Enable Interrupt for Data Ready
} SensorConfig;
@@ -118,6 +113,7 @@ public:
/**
* @brief Initializes the sensor with the current settings.
+ * @return true if initialization succeeded, false otherwise.
*/
bool init() override;
@@ -130,7 +126,7 @@ public:
* @brief The self test method returns true if we read the right whoami
* value. We can't make a better self test due to the fact that the sensor
* doesn't support this feature.
- * @return true if the right whoami has been written.
+ * @return true if the right whoami has been read.
*/
bool selfTest() override;
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFWData.h b/src/shared/sensors/LPS28DFW/LPS28DFWData.h
index dd2732a05f07d2eb3b72b74f3959f0869511138f..9f3f38d22fe1328cf66a1121c80a294d68a28b52 100644
--- a/src/shared/sensors/LPS28DFW/LPS28DFWData.h
+++ b/src/shared/sensors/LPS28DFW/LPS28DFWData.h
@@ -33,6 +33,15 @@ namespace Boardcore
*/
struct LPS28DFWData : public PressureData, TemperatureData
{
+
+ LPS28DFWData() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
+
+ LPS28DFWData(uint64_t pressT, float pressure, uint64_t tempT,
+ float temperature)
+ : PressureData{pressT, pressure}, TemperatureData{tempT, temperature}
+ {
+ }
+
static std::string header()
{
return "pressureTimestamp,pressure,temperatureTimestamp,temperature\n ";
diff --git a/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h b/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h
index 0e194bbd289d976bcf2f23d77277027007cc8422..36287c7a88befcb22e10e1dd00f81c472ebaa4c4 100644
--- a/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h
+++ b/src/shared/sensors/LPS28DFW/LPS28DFWDefs.h
@@ -20,6 +20,8 @@
* THE SOFTWARE.
*/
+#pragma once
+
namespace Boardcore
{
@@ -30,6 +32,7 @@ namespace LPS28DFWDefs
{
static const uint16_t lsp28dfwAddress0{0b1011100};
static const uint16_t lsp28dfwAddress1{0b1011101};
+static const float WHO_AM_I_VALUE{0xB4}; ///< Device Who am I value
static const float pressureSensitivity1260hPa{
40.96}; ///< pressure sensitivity with FSR at 1260 hPa [LSB/Pa]
static const float pressureSensitivity4060hPa{
@@ -37,16 +40,50 @@ static const float pressureSensitivity4060hPa{
static const float temperatureSensitivity{
100}; ///< temperature sensitivity [LSB/°C]
-static const uint8_t INTERRUPT_CFG{
- 0x0B}; ///< Interrupt mode for pressure acquisition configuration
-static const uint8_t THS_P_L{0x0C}; ///< User-defined threshold LSB register
-static const uint8_t THS_P_H{0x0D}; ///< User-defined threshold MSB register
-static const uint8_t IF_CTRL{0x0E}; ///< Interface control register
-static const uint8_t WHO_AM_I{0x0F}; ///< Device Who am I register
-static const uint8_t WHO_AM_I_VALUE{0xB4}; ///< Device Who am I value
-static const uint8_t CTRL_REG1_addr{0x10}; ///< Control Register 1 [ODR, AVG]
+enum Registers : uint8_t
+{
+ INTERRUPT_CFG_addr = 0x0B, ///< Interrupt mode for pressure acquisition
+
+ THS_P_L_addr = 0x0C, ///< User-defined threshold LSB register
+ THS_P_H_addr = 0x0D, ///< User-defined threshold MSB register
+
+ IF_CTRL_addr = 0x0E, ///< Interface control register
+
+ WHO_AM_I_addr = 0x0F, ///< Device Who am I register
+
+ CTRL_REG1_addr = 0x10, ///< Control Register 1 [ODR, AVG]
+ CTRL_REG2_addr = 0x11, ///< Control Register 2
+ CTRL_REG3_addr = 0x12, ///< Control Register 3
+ CTRL_REG4_addr = 0x13, ///< Control Register 4
+
+ FIFO_CTRL_addr = 0x14, ///< FIFO control register
+ FIFO_WTM_addr = 0x15, ///< FIFO threshold setting register
+
+ REF_P_L_addr = 0x16, ///< Reference pressure LSB data
+ REF_P_H_addr = 0x17, ///< Reference pressure MSB data
+
+ RPDS_L_addr = 0x1a, ///< Pressure offset LSB data
+ RPDS_H_addr = 0x1b, ///< Pressure offset HSB data
+
+ INT_SOURCE_addr = 0x24, ///< Interrupt source register
+
+ FIFO_STATUS1_addr = 0x25, ///< FIFO status register 1
+ FIFO_STATUS2_addr = 0x26, ///< FIFO status register 2
+
+ STATUS_addr = 0x27, ///< Status register
+
+ PRESS_OUT_XL_addr = 0x28, ///< Pressure output value LSB data
+ PRESS_OUT_L_addr = 0x29, ///< Pressure output value middle data
+ PRESS_OUT_H_addr = 0x2a, ///< Pressure output value MSB data
+
+ TEMP_OUT_L_addr = 0x2b, ///< Temperature output value LSB data
+ TEMP_OUT_H_addr = 0x2c, ///< Temperature output value MSB data
+
+ FIFO_DATA_OUT_PRESS_XL_addr = 0x78, ///< FIFO pressure output LSB data
+ FIFO_DATA_OUT_PRESS_L_addr = 0x79, ///< FIFO pressure output middle data
+ FIFO_DATA_OUT_PRESS_H_addr = 0x7a, ///< FIFO pressure output MSB data
+};
-static const uint8_t CTRL_REG2_addr{0x11}; ///< Control Register 2
enum CTRL_REG2 : uint8_t
{
ONE_SHOT_START = (0b1 << 0), ///< Enable one-shot mode
@@ -58,7 +95,6 @@ enum CTRL_REG2 : uint8_t
BOOT = (0b1 << 7) ///< Reboot memory content
};
-static const uint8_t CTRL_REG3_addr{0x12}; ///< Control Register 3
enum CTRL_REG3 : uint8_t
{
IF_ADD_INC =
@@ -67,7 +103,6 @@ enum CTRL_REG3 : uint8_t
INT_H_L = (0b1 << 3) ///< Select interrupt active-high, active-low
};
-static const uint8_t CTRL_REG4_addr{0x13}; ///< Control Register 4
enum CTRL_REG4 : uint8_t
{
INT_F_OVR = (0b1 << 0), ///< FIFO overrun status on INT_DRDY pin
@@ -78,7 +113,6 @@ enum CTRL_REG4 : uint8_t
DRDY_PLS = (0b1 << 6) ///< Data-ready pulsed on INT_DRDY pin
};
-static const uint8_t FIFO_CTRL_addr{0x14}; ///< FIFO control register
enum FIFO_CTRL : uint8_t
{
BYPASS = 0b000,
@@ -90,12 +124,6 @@ enum FIFO_CTRL : uint8_t
STOP_ON_WTM = (0b1 << 3) ///< Stop-on-FIFO watermark
};
-static const uint8_t FIFO_WTM_addr{0x15}; ///< FIFO threshold setting register
-static const uint8_t REF_P_L_addr{0x16}; ///< Reference pressure LSB data
-static const uint8_t REF_P_H_addr{0x17}; ///< Reference pressure MSB data
-static const uint8_t RPDS_L_addr{0x1a}; ///< Pressure offset LSB data
-static const uint8_t RPDS_H_addr{0x1b}; ///< Pressure offset HSB data
-static const uint8_t INT_SOURCE_addr{0x24}; ///< Interrupt source register
enum INT_SOURCE : uint8_t
{
PH = (0b1 << 0), ///< Differential pressure High
@@ -104,8 +132,6 @@ enum INT_SOURCE : uint8_t
BOOT_ON = (0b1 << 7) ///< Reboot phase is running
};
-static const uint8_t FIFO_STATUS1_addr{0x25}; ///< FIFO status register 1
-static const uint8_t FIFO_STATUS2_addr{0x26}; ///< FIFO status register 2
enum FIFO_STATUS2 : uint8_t
{
FIFO_FULL_IA = (0b1 << 5), ///< FIFO full status
@@ -113,7 +139,6 @@ enum FIFO_STATUS2 : uint8_t
FIFO_WTM_IA = (0b1 << 7) ///< FIFO threshold status
};
-static const uint8_t STATUS_addr{0x27}; ///< Status register
enum STATUS : uint8_t
{
P_DA = (0b1 << 0), ///< Pressure data available
@@ -122,21 +147,5 @@ enum STATUS : uint8_t
T_OR = (0b1 << 5) ///< Temperature data overrun
};
-static const uint8_t PRESS_OUT_XL_addr{
- 0x28}; ///< Pressure output value LSB data
-static const uint8_t PRESS_OUT_L_addr{
- 0x29}; ///< Pressure output value middle data
-static const uint8_t PRESS_OUT_H_addr{
- 0x2a}; ///< Pressure output value MSB data
-static const uint8_t TEMP_OUT_L_addr{
- 0x2b}; ///< Temperature output value LSB data
-static const uint8_t TEMP_OUT_H_addr{
- 0x2c}; ///< Temperature output value MSB data
-static const uint8_t FIFO_DATA_OUT_PRESS_XL_addr{
- 0x78}; ///< FIFO pressure output LSB data
-static const uint8_t FIFO_DATA_OUT_PRESS_L_addr{
- 0x79}; ///< FIFO pressure output middle data
-static const uint8_t FIFO_DATA_OUT_PRESS_H_addr{
- 0x7a}; ///< FIFO pressure output MSB data
} // namespace LPS28DFWDefs
} // namespace Boardcore
\ No newline at end of file
diff --git a/src/tests/sensors/test-lps28dfw.cpp b/src/tests/sensors/test-lps28dfw.cpp
index 594d9fe0ea7c7b62019bcc681ef2aec04b35d70c..c39bfd4431ea27075f5cf6c1817712e7d335ba61 100644
--- a/src/tests/sensors/test-lps28dfw.cpp
+++ b/src/tests/sensors/test-lps28dfw.cpp
@@ -62,12 +62,9 @@ void sampleOneShotMode(I2C &i2c)
printf("Start One-Shot\n");
// Setting up the Sensor
- LPS28DFW::SensorConfig lps28dfwConfig{false,
- LPS28DFW::FullScaleRange::FS_1260,
- LPS28DFW::AVG::AVG_64,
- LPS28DFW::Mode::ONE_SHOT_MODE,
- LPS28DFW::ODR::ONE_SHOT,
- false};
+ LPS28DFW::SensorConfig lps28dfwConfig{
+ false, LPS28DFW::FullScaleRange::FS_1260, LPS28DFW::AVG::AVG_64,
+ LPS28DFW::ODR::ONE_SHOT, false};
LPS28DFW lps28dfw(i2c, lps28dfwConfig);
if (!lps28dfw.init())
{
@@ -98,12 +95,9 @@ void sampleContinuousMode(I2C &i2c)
printf("Start Continuous\n");
// Setting up the Sensor
- LPS28DFW::SensorConfig lps28dfwConfig{false,
- LPS28DFW::FullScaleRange::FS_1260,
- LPS28DFW::AVG::AVG_64,
- LPS28DFW::Mode::CONTINUOUS_MODE,
- LPS28DFW::ODR::ODR_10,
- false};
+ LPS28DFW::SensorConfig lps28dfwConfig{
+ false, LPS28DFW::FullScaleRange::FS_1260, LPS28DFW::AVG::AVG_64,
+ LPS28DFW::ODR::ODR_10, false};
LPS28DFW lps28dfw(i2c, lps28dfwConfig);
if (!lps28dfw.init())
{
@@ -134,12 +128,9 @@ void sampleInterruptMode(I2C &i2c)
{
printf("Start Interrupt\n");
// Setting up the Sensor
- LPS28DFW::SensorConfig lps28dfwConfig{false,
- LPS28DFW::FullScaleRange::FS_1260,
- LPS28DFW::AVG::AVG_64,
- LPS28DFW::Mode::CONTINUOUS_MODE,
- LPS28DFW::ODR::ODR_10,
- true};
+ LPS28DFW::SensorConfig lps28dfwConfig{
+ false, LPS28DFW::FullScaleRange::FS_1260, LPS28DFW::AVG::AVG_64,
+ LPS28DFW::ODR::ODR_10, true};
LPS28DFW lps28dfw(i2c, lps28dfwConfig);
if (!lps28dfw.init())
{