Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_InertialSensor: support both MPU9250 and MPU9255

Browse Source 
seems to be just different WHOAMI register
This commit is contained in:
Andrew Tridgell 2015-03-13 13:26:49 +11:00
parent b02098e19e
commit 808c33d0a7
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
View File

@ -144,6 +144,8 @@ extern const AP_HAL::HAL& hal;
#define MPUREG_FIFO_COUNTL 0x73
#define MPUREG_FIFO_R_W 0x74
#define MPUREG_WHOAMI 0x75
#define MPUREG_WHOAMI_MPU9250 0x71
#define MPUREG_WHOAMI_MPU9255 0x73
// Configuration bits MPU 3000, MPU 6000 and MPU9250
@ -213,9 +215,7 @@ bool AP_InertialSensor_MPU9250::_init_sensor(void)
hal.scheduler->suspend_timer_procs();
uint8_t whoami = _register_read(MPUREG_WHOAMI);
if (whoami != 0x71) {
// TODO: we should probably accept multiple chip
// revisions. This is the one on the PXF
if (whoami != MPUREG_WHOAMI_MPU9250 && whoami != MPUREG_WHOAMI_MPU9255) {
hal.console->printf("MPU9250: unexpected WHOAMI 0x%x\n", (unsigned)whoami);
return false;
}