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AP_InertialSensor_LSM9DS0: Fix the CS.

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This commit is contained in:
Víctor Mayoral Vilches 2014-06-03 15:13:59 +02:00 committed by Andrew Tridgell
parent ad3a3f9366
commit bb5de8a6a1
2 changed files with 22 additions and 19 deletions
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29
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
View File

@ -22,6 +22,7 @@
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
#include "AP_InertialSensor_LSM9DS0.h"
#include "../AP_HAL_Linux/GPIO.h"
extern const AP_HAL::HAL& hal;
@ -120,7 +121,8 @@ extern const AP_HAL::HAL& hal;
AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0():
AP_InertialSensor(),
_drdy_pin_xm(NULL),
_drdy_pin_a(NULL),
_drdy_pin_m(NULL),
_drdy_pin_g(NULL),
_initialised(false),
_lsm9ds0_product_id(AP_PRODUCT_ID_NONE)
@ -135,10 +137,17 @@ uint16_t AP_InertialSensor_LSM9DS0::_init_sensor( Sample_rate sample_rate)
_spi = hal.spi->device(AP_HAL::SPIDevice_LSM9DS0);
_spi_sem = _spi->get_semaphore();
_drdy_pin_xm = hal.gpio->channel(LSM9DS0_SPI_ACCELMAG_DRDY);
_drdy_pin_g = hal.gpio->channel(LSM9DS0_SPI_GYRO_DRDY);
_cs_xm = hal.gpio->channel(LSM9DS0_SPI_ACCELMAG_CS);
_cs_g = hal.gpio->channel(LSM9DS0_SPI_GYRO_CS);
_drdy_pin_a = hal.gpio->channel(BBB_P8_8);
_drdy_pin_m = hal.gpio->channel(BBB_P8_10);
_drdy_pin_g = hal.gpio->channel(BBB_P8_34);
// For some reason configuring the pins as an inputs make the driver fail
// _drdy_pin_a->mode(GPIO_IN);
// _drdy_pin_m->mode(GPIO_IN);
// _drdy_pin_g->mode(GPIO_IN);
_cs_xm = hal.gpio->channel(BBB_P9_17);
_cs_g = hal.gpio->channel(BBB_P8_9);
hal.scheduler->suspend_timer_procs();
@ -349,20 +358,20 @@ bool AP_InertialSensor_LSM9DS0::_hardware_init(Sample_rate sample_rate)
* TODO, read the
* status register.
*/
bool AP_InertialSensor_LSM9DS0::_data_ready()
uint8_t AP_InertialSensor_LSM9DS0::_data_ready()
{
uint8_t rvalue = 0;
if (_drdy_pin_g) {
if (_drdy_pin_g->read() != 0){
rvalue=1;
}
if (_drdy_pin_xm) {
if (_drdy_pin_xm->read() != 0){
if (_drdy_pin_a) {
if (_drdy_pin_a->read() != 0){
rvalue = 3;
}
}
} else if (_drdy_pin_xm) {
if (_drdy_pin_xm->read() != 0){
} else if (_drdy_pin_a) {
if (_drdy_pin_a->read() != 0){
rvalue = 2;
}
}

12
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
View File

@ -10,13 +10,6 @@
#include "AP_InertialSensor.h"
// TODO review these pins
#define LSM9DS0_SPI_ACCELMAG_CS 1 // Accel and mag chip select pin
#define LSM9DS0_SPI_GYRO_CS 2 // Gyro chip select pin
#define LSM9DS0_SPI_ACCELMAG_DRDY 3 // Accel and mag data ready pin
#define LSM9DS0_SPI_GYRO_DRDY 4 // Gyro data ready pin
// gyro_scale_lsm9ds0 defines the possible full-scale ranges of the gyroscope:
enum gyro_scale_lsm9ds0
{
@ -121,7 +114,8 @@ protected:
uint16_t _init_sensor( Sample_rate sample_rate );
private:
AP_HAL::DigitalSource *_drdy_pin_xm;
AP_HAL::DigitalSource *_drdy_pin_a;
AP_HAL::DigitalSource *_drdy_pin_m;
AP_HAL::DigitalSource *_drdy_pin_g;
AP_HAL::DigitalSource *_cs_xm;
AP_HAL::DigitalSource *_cs_g;
@ -169,7 +163,7 @@ private:
bool _sample_available();
void _read_data_transaction_g();
void _read_data_transaction_xm();
bool _data_ready();
uint8_t _data_ready();
void _poll_data(void);
uint8_t _register_read_xm( uint8_t reg );
uint8_t _register_read_g( uint8_t reg );