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AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963

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mirkix 2016-12-29 15:42:13 +01:00 committed by Lucas De Marchi
parent 11b635df12
commit 62fabca19d
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -118,6 +118,7 @@ extern const AP_HAL::HAL& hal;
#define MPUREG_I2C_SLV2_ADDR 0x2B #define MPUREG_I2C_SLV2_ADDR 0x2B
#define MPUREG_I2C_SLV3_ADDR 0x2E #define MPUREG_I2C_SLV3_ADDR 0x2E
#define MPUREG_INT_PIN_CFG 0x37 #define MPUREG_INT_PIN_CFG 0x37
# define BIT_BYPASS_EN 0x02
# define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs # define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs
# define BIT_LATCH_INT_EN 0x20 // latch data ready pin # define BIT_LATCH_INT_EN 0x20 // latch data ready pin
#define MPUREG_I2C_SLV4_CTRL 0x34 #define MPUREG_I2C_SLV4_CTRL 0x34
@ -444,7 +445,7 @@ void AP_InertialSensor_Invensense::start()
// clear interrupt on any read, and hold the data ready pin high // clear interrupt on any read, and hold the data ready pin high
// until we clear the interrupt // until we clear the interrupt
_register_write(MPUREG_INT_PIN_CFG, BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN); _register_write(MPUREG_INT_PIN_CFG, _register_read(MPUREG_INT_PIN_CFG) | BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN);
// now that we have initialised, we set the bus speed to high // now that we have initialised, we set the bus speed to high
_dev->set_speed(AP_HAL::Device::SPEED_HIGH); _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
@ -866,6 +867,12 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
_register_write(MPUREG_USER_CTRL, _last_stat_user_ctrl); _register_write(MPUREG_USER_CTRL, _last_stat_user_ctrl);
} }
/* bus-dependent initialization */
if ((_dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C) && (_mpu_type == Invensense_MPU9250)) {
/* Enable I2C bypass to access internal AK8963 */
_register_write(MPUREG_INT_PIN_CFG, BIT_BYPASS_EN);
}
// Wake up device and select GyroZ clock. Note that the // Wake up device and select GyroZ clock. Note that the
// Invensense starts up in sleep mode, and it can take some time // Invensense starts up in sleep mode, and it can take some time
// for it to come out of sleep // for it to come out of sleep