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AP_InertialSensor_MPU6000: Add _register_write_check method.

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This private method allows to check whether the value written and
the posterior value readed are the same.
Should be used only for debuging purposes, for release versions use
_register_write instead.
This commit is contained in:
Víctor Mayoral Vilches 2014-07-03 12:09:34 +02:00 committed by Andrew Tridgell
parent 0fff8df491
commit 3379ddd51f
2 changed files with 17 additions and 1 deletions
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17
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -413,6 +413,22 @@ void AP_InertialSensor_MPU6000::_register_write(uint8_t reg, uint8_t val)
_spi->transaction(tx, rx, 2);
}
/*
useful when debugging SPI bus errors
*/
void AP_InertialSensor_MPU6000::_register_write_check(uint8_t reg, uint8_t val)
{
uint8_t readed;
_register_write(reg, val);
readed = _register_read(reg);
if (readed != val){
hal.console->printf_P(PSTR("Values doesn't match; written: %02x; read: %02x "), val, readed);
}
#if MPU6000_DEBUG
hal.console->printf_P(PSTR("Values written: %02x; readed: %02x "), val, readed);
#endif
}
/*
set the DLPF filter frequency. Assumes caller has taken semaphore
*/
@ -440,7 +456,6 @@ void AP_InertialSensor_MPU6000::_set_filter_register(uint8_t filter_hz, uint8_t
if (filter != 0) {
_last_filter_hz = filter_hz;
_register_write(MPUREG_CONFIG, filter);
}
}

1
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
View File

@ -45,6 +45,7 @@ private:
void _poll_data(void);
uint8_t _register_read( uint8_t reg );
void _register_write( uint8_t reg, uint8_t val );
void _register_write_check(uint8_t reg, uint8_t val);
bool _hardware_init(Sample_rate sample_rate);
AP_HAL::SPIDeviceDriver *_spi;