aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_InertialSensor: don't use INT_STATUS drdy to lower SPI bus speed

Browse Source 
as pointed out by Lucas in PR#2604 this is probably a bad idea
This commit is contained in:
Andrew Tridgell 2015-07-30 14:05:20 +10:00
parent 224d45000b
commit 212898d02b
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_MPU6000.cpp
View File

@ -244,14 +244,14 @@ void AP_MPU6000_BusDriver_SPI::read_burst(uint8_t *samples,
/*
detect a bad SPI bus transaction by looking for all 14 bytes
zero, or the wrong INT_STATUS register value. This is used to
detect a too high SPI bus speed.
zero. This can happen with some boards with hw that end up
needing a lower bus speed
*/
uint8_t i;
for (i=0; i<14; i++) {
if (rx.d[i] != 0) break;
}
if ((rx.int_status&~0x6) != (_drdy_pin==NULL?0:BIT_RAW_RDY_INT) || i == 14) {
if (i == 14) {
// likely a bad bus transaction
if (++_error_count > 4) {
set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);