Fix of LPS25H temperature reading when moving avg filter is activated.

Reading of LPS25H temp register must be done in separate read as the
register auto increment pointer wraps around in the pressure registers
when FIFO mode is enabled. As described in AN4450 5.1 from ST. Closes
#149

src/drivers/src/lps25h.c

@@ -119,7 +119,8 @@ bool lps25hSetEnabled(bool enable)
 	  status = i2cdevWrite(I2Cx, devAddr, LPS25H_CTRL_REG1, 1, &enable_mask);
 	  enable_mask = 0b00001111; // AVG-P 512, AVG-T 64
 	  status = i2cdevWrite(I2Cx, devAddr, LPS25H_RES_CONF, 1, &enable_mask);
-	  // FIFO averaging
+	  // FIFO averaging. This requres temp reg to be read in different read as reg auto inc
+	  // wraps back to LPS25H_PRESS_OUT_L after LPS25H_PRESS_OUT_H is read.
 	  enable_mask = 0b11000011; // FIFO Mean mode, 4 moving average
 	  status = i2cdevWrite(I2Cx, devAddr, LPS25H_FIFO_CTRL, 1, &enable_mask);
 	  enable_mask = 0b01000000; // FIFO Enable

src/hal/src/sensors_cf2.c

@@ -79,7 +79,9 @@
 // Buffer length for MPU9250 slave reads
 #define SENSORS_MPU6500_BUFF_LEN    14
 #define SENSORS_MAG_BUFF_LEN        8
-#define SENSORS_BARO_BUFF_LEN       6
+#define SENSORS_BARO_BUFF_S_P_LEN   4
+#define SENSORS_BARO_BUFF_T_LEN     2
+#define SENSORS_BARO_BUFF_LEN       (SENSORS_BARO_BUFF_S_P_LEN + SENSORS_BARO_BUFF_T_LEN)
 
 #define GYRO_NBR_OF_AXES            3
 #define GYRO_MIN_BIAS_TIMEOUT_MS    M2T(1*1000)
@@ -424,11 +426,19 @@ static void sensorsSetupSlaveRead(void)
   if (isBarometerPresent)
   {
     // Configure the LPS25H as a slave and enable read
+    // Setting up two reads works for LPS25H fifo avg filter as well as the
+    // auto inc wraps back to LPS25H_PRESS_OUT_L after LPS25H_PRESS_OUT_H is read.
     mpu6500SetSlaveAddress(1, 0x80 | LPS25H_I2C_ADDR);
     mpu6500SetSlaveRegister(1, LPS25H_STATUS_REG | LPS25H_ADDR_AUTO_INC);
-    mpu6500SetSlaveDataLength(1, SENSORS_BARO_BUFF_LEN);
+    mpu6500SetSlaveDataLength(1, SENSORS_BARO_BUFF_S_P_LEN);
     mpu6500SetSlaveDelayEnabled(1, true);
     mpu6500SetSlaveEnabled(1, true);
+
+    mpu6500SetSlaveAddress(2, 0x80 | LPS25H_I2C_ADDR);
+    mpu6500SetSlaveRegister(2, LPS25H_TEMP_OUT_L | LPS25H_ADDR_AUTO_INC);
+    mpu6500SetSlaveDataLength(2, SENSORS_BARO_BUFF_T_LEN);
+    mpu6500SetSlaveDelayEnabled(2, true);
+    mpu6500SetSlaveEnabled(2, true);
   }
 #endif