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src: MS5837.cpp: fix invalid variant detection #33

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Merged
ES-Alexander merged 2 commits into from
Jun 30, 2025
Merged

src: MS5837.cpp: fix invalid variant detection #33

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98e89eb
src: MS5837.cpp: fix invalid variant detection
ES-Alexander Jun 26, 2025
ffa83a5
.github: workflows: test.yml: bump dependency versions
ES-Alexander Jun 30, 2025
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10 changes: 5 additions & 5 deletions .github/workflows/test.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,25 +6,25 @@ jobs:
Test:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- uses: actions/checkout@v4

- name: Cache pip
uses: actions/cache@v2
uses: actions/cache@v4
with:
path: ~/.cache/pip
key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
restore-keys: |
${{ runner.os }}-pip-
- name: Cache PlatformIO
uses: actions/cache@v2
uses: actions/cache@v4
with:
path: ~/.platformio
key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
- name: Set up Python
uses: actions/setup-python@v2
uses: actions/setup-python@v5
- name: Install PlatformIO
run: |
python -m pip install --upgrade pip
pip install --upgrade platformio
- name: Run PlatformIO
run: platformio ci --lib="." --board=uno --board=megaatmega2560 examples/MS5837_Example/*.ino
run: platformio ci --lib="." --board=uno --board=megaatmega2560 examples/MS5837_Example/*.ino
28 changes: 14 additions & 14 deletions src/MS5837.cpp
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Expand Up @@ -16,9 +16,10 @@ const uint8_t MS5837::MS5837_30BA = 0;
const uint8_t MS5837::MS5837_02BA = 1;
const uint8_t MS5837::MS5837_UNRECOGNISED = 255;

const uint8_t MS5837_02BA01 = 0x00; // Sensor version: From MS5837_02BA datasheet Version PROM Word 0
const uint8_t MS5837_02BA21 = 0x15; // Sensor version: From MS5837_02BA datasheet Version PROM Word 0
const uint8_t MS5837_30BA26 = 0x1A; // Sensor version: From MS5837_30BA datasheet Version PROM Word 0
// context: https://github.com/ArduPilot/ardupilot/pull/29122#issuecomment-2877269114
const uint16_t MS5837_02BA_MAX_SENSITIVITY = 49000;
const uint16_t MS5837_02BA_30BA_SEPARATION = 37000;
const uint16_t MS5837_30BA_MIN_SENSITIVITY = 26000;

MS5837::MS5837() {
fluidDensity = 1029;
Expand Down Expand Up @@ -57,25 +58,24 @@ bool MS5837::init(TwoWire &wirePort) {
return false; // CRC fail
}

uint8_t version = (C[0] >> 5) & 0x7F; // Extract the sensor version from PROM Word 0

// Set _model according to the sensor version
if (version == MS5837_02BA01)
// PROM Word 1 represents the sensor's pressure sensitivity calibration
// Set _model according to the experimental pressure sensitivity thresholds
if (C[1] < MS5837_30BA_MIN_SENSITIVITY || C[1] > MS5837_02BA_MAX_SENSITIVITY)
{
_model = MS5837_02BA;
_model = MS5837_UNRECOGNISED;
}
else if (version == MS5837_02BA21)
else if (C[1] > MS5837_02BA_30BA_SEPARATION)
{
_model = MS5837_02BA;
}
else if (version == MS5837_30BA26)
{
_model = MS5837_30BA;
}
else
{
_model = MS5837_UNRECOGNISED;
_model = MS5837_30BA;
}

// TODO: extract and store/report sensor package type from bits 11-5 of PROM Word 0,
// per https://github.com/ArduPilot/ardupilot/pull/29122#pullrequestreview-2837597764

// The sensor has passed the CRC check, so we should return true even if
// the sensor version is unrecognised.
// (The MS5637 has the same address as the MS5837 and will also pass the CRC check)
Expand Down
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