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AP_InertialSensor: disable I2C on MPU9250 

As the datasheet says: "To prevent switching into I2C mode when using
SPI, the I2C interface should be disabled by setting the I2C_IF_DIS
configuration bit."

We also reset the sensor like PX4Firmware does for initializing the
MPU6000.  See: ee1d8cd770/src/drivers/mpu6000/mpu6000.cpp (L695)
This commit is contained in:
Gustavo Jose de Sousa 2015-06-03 17:46:45 -03:00 committed by Andrew Tridgell
parent 54c06cde02
commit 587471ab54
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -421,8 +421,14 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
// Chip reset
uint8_t tries;
for (tries = 0; tries<5; tries++) {
// reset device
_register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
hal.scheduler->delay(100);
// disable I2C as recommended by the datasheet
_register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
// Wake up device and select GyroZ clock. Note that the
// MPU6000 starts up in sleep mode, and it can take some time
// for it to come out of sleep