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AP_InertialSensor: properly reset MPU6000 signal path at startup

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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
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@ -973,6 +973,13 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
/* bus-dependent initialization */ /* bus-dependent initialization */
if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) { 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 /* Disable I2C bus if SPI selected (Recommended in Datasheet to be
* done just after the device is reset) */ * done just after the device is reset) */
_last_stat_user_ctrl |= BIT_USER_CTRL_I2C_IF_DIS; _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_SLV1_DLY_EN 0x02
# define BIT_I2C_SLV2_DLY_EN 0x04 # define BIT_I2C_SLV2_DLY_EN 0x04
# define BIT_I2C_SLV3_DLY_EN 0x08 # 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 #define MPUREG_USER_CTRL 0x6A
// bit definitions for MPUREG_USER_CTRL // 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) # define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp)