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AP_InertialSensor: get rid of data_ready for MPU9250

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when running off a 1kHz timer and reading at 1kHz it is better to
double sample than it is to skip a sample, as skipping samples will
throw the filter off, whereas a double sample will have minimal effect
This commit is contained in:
Andrew Tridgell 2014-08-19 20:01:29 +10:00
parent a627cd2af2
commit 3c2ab31415
2 changed files with 3 additions and 34 deletions
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34
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
View File

@ -174,7 +174,6 @@ extern const AP_HAL::HAL& hal;
AP_InertialSensor_MPU9250::AP_InertialSensor_MPU9250() :
AP_InertialSensor(),
_drdy_pin(NULL),
_initialised(false),
_mpu9250_product_id(AP_PRODUCT_ID_PIXHAWK_FIRE_CAPE),
_last_filter_hz(-1),
@ -198,11 +197,6 @@ uint16_t AP_InertialSensor_MPU9250::_init_sensor( Sample_rate sample_rate )
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
_spi_sem = _spi->get_semaphore();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
_drdy_pin = hal.gpio->channel(BBB_P8_7);
_drdy_pin->mode(HAL_GPIO_INPUT);
#endif
hal.scheduler->suspend_timer_procs();
uint8_t whoami = _register_read(MPUREG_WHOAMI);
@ -221,7 +215,8 @@ uint16_t AP_InertialSensor_MPU9250::_init_sensor( Sample_rate sample_rate )
if (!_spi_sem->take(100)) {
hal.scheduler->panic(PSTR("MPU9250: Unable to get semaphore"));
}
if (_data_ready()) {
uint8_t status = _register_read(MPUREG_INT_STATUS);
if ((status & BIT_RAW_RDY_INT) != 0) {
_spi_sem->give();
break;
} else {
@ -344,22 +339,6 @@ bool AP_InertialSensor_MPU9250::update( void )
/*================ HARDWARE FUNCTIONS ==================== */
/**
* Return true if the MPU9250 has new data available for reading.
*
* We use the data ready pin if it is available. Otherwise, read the
* status register.
*/
bool AP_InertialSensor_MPU9250::_data_ready()
{
if (_drdy_pin) {
return _drdy_pin->read() != 0;
}
uint8_t status = _register_read(MPUREG_INT_STATUS);
return (status & BIT_RAW_RDY_INT) != 0;
}
/**
* Timer process to poll for new data from the MPU9250.
*/
@ -374,9 +353,7 @@ void AP_InertialSensor_MPU9250::_poll_data(void)
*/
return;
}
if (_data_ready()) {
_read_data_transaction();
}
_spi_sem->give();
}
@ -395,13 +372,6 @@ void AP_InertialSensor_MPU9250::_read_data_transaction()
_spi->transaction((const uint8_t *)&tx, (uint8_t *)&rx, sizeof(rx));
if (_drdy_pin) {
if (_drdy_pin->read() != 0) {
// data ready should have gone low after a read
printf("MPU9250: DRDY didn't go low\n");
}
}
#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
_accel_filtered = Vector3f(_accel_filter_x.apply(int16_val(rx.v, 1)),

1
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
View File

@ -32,7 +32,6 @@ public:
private:
uint16_t _init_sensor( Sample_rate sample_rate );
AP_HAL::DigitalSource *_drdy_pin;
void _read_data_transaction();
bool _data_ready();