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AP_InerialSensor: setup INT_PIN_CFG correctly

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this restores the behavior lost with the 20789 driver change
This commit is contained in:
Andrew Tridgell 2018-03-01 08:48:18 +11:00 committed by Lucas De Marchi
parent ffcb9ce945
commit 53b76efbd2
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -298,6 +298,16 @@ void AP_InertialSensor_Invensense::start()
_register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);
hal.scheduler->delay(1);
// clear interrupt on any read, and hold the data ready pin high
// until we clear the interrupt. We don't do this for the 20789 as
// that sensor has already setup the appropriate config inside the
// baro driver.
if (_mpu_type != Invensense_ICM20789) {
uint8_t v = _register_read(MPUREG_INT_PIN_CFG) | BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN;
v &= BIT_BYPASS_EN;
_register_write(MPUREG_INT_PIN_CFG, v);
}
// now that we have initialised, we set the bus speed to high
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);