From 3fa419e132e77d68924a6696706c1f991782537b Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Sat, 4 May 2019 19:39:39 +0200
Subject: [PATCH] AP_Baro: fix LPS22H on I2C

---
 libraries/AP_Baro/AP_Baro_LPS2XH.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
index 34946680db77a..d4e5fbabbb8b8 100644
--- a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
+++ b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
@@ -159,8 +159,13 @@ bool AP_Baro_LPS2XH::_init()
     	CallTime = 40 * AP_USEC_PER_MSEC;
     }
     if(_lps2xh_type == BARO_LPS22H){
-    	_dev->write_register(LPS22H_CTRL_REG1,LPS22H_CTRL_REG1_ODR_75HZ|LPS22H_CTRL_REG1_BDU|LPS22H_CTRL_REG1_EN_LPFP|LPS22H_CTRL_REG1_LPFP_CFG);
-		_dev->write_register(LPS22H_CTRL_REG2,0x18);
+        _dev->write_register(LPS22H_CTRL_REG1, 0x00); // turn off for config
+        _dev->write_register(LPS22H_CTRL_REG1, LPS22H_CTRL_REG1_ODR_75HZ|LPS22H_CTRL_REG1_BDU|LPS22H_CTRL_REG1_EN_LPFP|LPS22H_CTRL_REG1_LPFP_CFG);
+        if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
+            _dev->write_register(LPS22H_CTRL_REG2, 0x18);  // disable i2c
+        } else {
+            _dev->write_register(LPS22H_CTRL_REG2, 0x10);
+        }
 
 		// request 75Hz update
         CallTime = 1000000/75;