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AP_Baro: use Invensense defines when configuring ICM20789 IMU part

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Peter Barker 2018-01-02 13:42:01 +11:00 committed by Andrew Tridgell
parent 71cf3941a7
commit 12a3cc1179
1 changed files with 21 additions and 17 deletions
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38
libraries/AP_Baro/AP_Baro_ICM20789.cpp
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@ -29,6 +29,8 @@
#include <AP_Math/AP_Math.h>
#include <DataFlash/DataFlash.h>
#include <AP_InertialSensor/AP_InertialSensor_Invensense_registers.h>
extern const AP_HAL::HAL &hal;
/*
@ -85,6 +87,12 @@ AP_Baro_Backend *AP_Baro_ICM20789::probe(AP_Baro &baro,
}
/*
Pressure sensor data can be accessed in the following mode:
Bypass Mode: Set register INT_PIN_CFG (Address: 55 (Decimal); 37 (Hex)) bit 1 to value 1
and I2C_MST_EN bit is 0 Address: 106 (Decimal); 6A (Hex)).
Pressure sensor data can then be accessed using the procedure described in Section 10.
*/
bool AP_Baro_ICM20789::spi_init(void)
{
#ifdef HAL_INS_MPU60x0_NAME
@ -101,29 +109,31 @@ bool AP_Baro_ICM20789::spi_init(void)
uint8_t whoami = 0;
uint8_t v;
dev_icm->read_registers(0x6A, &v, 1);
dev_icm->write_register(0x6B, 0x01);
dev_icm->read_registers(MPUREG_USER_CTRL, &v, 1);
dev_icm->write_register(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_CLK_XGYRO);
hal.scheduler->delay(1);
dev_icm->write_register(0x6A, 0x10);
dev_icm->write_register(0x6B, 0x41);
dev_icm->write_register(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
dev_icm->write_register(MPUREG_PWR_MGMT_1,
BIT_PWR_MGMT_1_SLEEP | BIT_PWR_MGMT_1_CLK_XGYRO);
hal.scheduler->delay(1);
dev_icm->write_register(0x6B, 0x01);
dev_icm->write_register(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_CLK_XGYRO);
hal.scheduler->delay(1);
dev_icm->write_register(0x23, 0x00);
dev_icm->write_register(0x6B, 0x41);
dev_icm->write_register(MPUREG_FIFO_EN, 0x00);
dev_icm->write_register(MPUREG_PWR_MGMT_1,
BIT_PWR_MGMT_1_SLEEP | BIT_PWR_MGMT_1_CLK_XGYRO);
dev_icm->read_registers(0x75, &whoami, 1);
dev_icm->read_registers(MPUREG_WHOAMI, &whoami, 1);
// wait for sensor to settle
hal.scheduler->delay(100);
dev_icm->read_registers(0x75, &whoami, 1);
dev_icm->read_registers(MPUREG_WHOAMI, &whoami, 1);
dev_icm->write_register(0x37, 0x00);
dev_icm->write_register(0x6A, 0x10);
dev_icm->write_register(MPUREG_INT_PIN_CFG, 0x00);
dev_icm->write_register(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
dev_icm->get_semaphore()->give();
@ -146,12 +156,6 @@ bool AP_Baro_ICM20789::init()
AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore for init");
}
/*
Pressure sensor data can be accessed in the following mode:
Bypass Mode: Set register INT_PIN_CFG (Address: 55 (Decimal); 37 (Hex)) bit 1 to value 1
and I2C_MST_EN bit is 0 Address: 106 (Decimal); 6A (Hex)).
Pressure sensor data can then be accessed using the procedure described in Section 10.
*/
debug("Setting up IMU\n");
if (!spi_init()) {
debug("ICM20789: failed to initialise SPI device\n");