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AP_Compass: AK8963: don't oversample AK8963

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Reduce the frequency with which MPU9250 reads AK8963 to reduce the
chance of errors.
This commit is contained in:
Lucas De Marchi 2015-07-22 18:36:46 -03:00 committed by Andrew Tridgell
parent 6c2ceea165
commit 2b9c46e1ff
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -41,6 +41,10 @@
# define I2C_MST_CLOCK_400KHZ 0x0D
# define I2C_MST_CLOCK_258KHZ 0x08
#define MPUREG_I2C_SLV4_CTRL 0x34
#define MPUREG_I2C_MST_DELAY_CTRL 0x67
# define I2C_SLV0_DLY_EN 0x01
#define AK8963_I2C_ADDR 0x0c
#define AK8963_WIA 0x00
@ -451,6 +455,11 @@ bool AP_AK8963_SerialBus_MPU9250::start_measurements()
{
const uint8_t count = sizeof(struct raw_value);
/* Don't sample AK8963 at MPU9250's sample rate. See MPU9250's datasheet
* about registers below and registers 73-96, External Sensor Data */
_write(MPUREG_I2C_SLV4_CTRL, 31);
_write(MPUREG_I2C_MST_DELAY_CTRL, I2C_SLV0_DLY_EN);
/* Configure the registers from AK8963 that will be read by MPU9250's
* master: we will get the result directly from MPU9250's registers starting
* from MPUREG_EXT_SENS_DATA_00 when read_raw() is called */