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AP_InertialSensor: disable register checking in invensensev2 driver

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register checking doesn't work for the banked registers used in the
invensensev2 register layout. It ends up setting the wrong register
value in some cases, which can either cause the sensor to stop working
or in the worst case give bad data
This commit is contained in:
Andrew Tridgell 2019-05-07 18:07:29 +10:00
parent e9c5034c54
commit 893b49d145
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
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@ -546,8 +546,9 @@ uint8_t AP_InertialSensor_Invensensev2::_register_read(uint16_t reg)
void AP_InertialSensor_Invensensev2::_register_write(uint16_t reg, uint8_t val, bool checked) void AP_InertialSensor_Invensensev2::_register_write(uint16_t reg, uint8_t val, bool checked)
{ {
(void)checked;
_select_bank(GET_BANK(reg)); _select_bank(GET_BANK(reg));
_dev->write_register(GET_REG(reg), val, checked); _dev->write_register(GET_REG(reg), val, false);
} }
void AP_InertialSensor_Invensensev2::_select_bank(uint8_t bank) void AP_InertialSensor_Invensensev2::_select_bank(uint8_t bank)
@ -639,9 +640,8 @@ bool AP_InertialSensor_Invensensev2::_hardware_init(void)
return false; return false;
} }
// setup for register checking. We check much less often on I2C // disabled setup of checked registers as it can't cope with bank switching
// where the cost of the checks is higher // _dev->setup_checked_registers(7, _dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C?200:20);
_dev->setup_checked_registers(7, _dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C?200:20);
// initially run the bus at low speed // initially run the bus at low speed
_dev->set_speed(AP_HAL::Device::SPEED_LOW); _dev->set_speed(AP_HAL::Device::SPEED_LOW);