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AP_InertialSensor: properly reset MPU6000 signal path at startup 

failure to reset the signal path as per the register spec leads to
very poor temperature response early on in startup.
This commit is contained in:
Andy Piper 2022-06-06 09:55:53 +01:00 committed by Andrew Tridgell
parent fe29324828
commit 6cacdd1b34
2 changed files with 12 additions and 0 deletions
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7
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
View File

@ -973,6 +973,13 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
/* bus-dependent initialization */
if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
/* reset signal path as recommended in the datasheet */
if (_mpu_type == Invensense_MPU6000 || _mpu_type == Invensense_MPU6500) {
_register_write(MPUREG_SIGNAL_PATH_RESET,
BIT_SIGNAL_PATH_RESET_TEMP_RESET|BIT_SIGNAL_PATH_RESET_ACCEL_RESET|BIT_SIGNAL_PATH_RESET_GYRO_RESET);
hal.scheduler->delay(100);
}
/* Disable I2C bus if SPI selected (Recommended in Datasheet to be
* done just after the device is reset) */
_last_stat_user_ctrl |= BIT_USER_CTRL_I2C_IF_DIS;

5
libraries/AP_InertialSensor/AP_InertialSensor_Invensense_registers.h
View File

@ -113,6 +113,11 @@
# define BIT_I2C_SLV1_DLY_EN 0x02
# define BIT_I2C_SLV2_DLY_EN 0x04
# define BIT_I2C_SLV3_DLY_EN 0x08
#define MPUREG_SIGNAL_PATH_RESET 0x68
// bit definitions for MPUREG_SIGNAL_PATH_RESET
# define BIT_SIGNAL_PATH_RESET_TEMP_RESET 0x01 // resets temp signal path
# define BIT_SIGNAL_PATH_RESET_ACCEL_RESET 0x02 // resets accel signal path
# define BIT_SIGNAL_PATH_RESET_GYRO_RESET 0x04 // resets gyro signal path
#define MPUREG_USER_CTRL 0x6A
// bit definitions for MPUREG_USER_CTRL
# define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp)