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AP_InertialSensor: configure bypass for 20789 like we do for AK8963

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Peter Barker 2018-01-02 12:50:00 +11:00 committed by Andrew Tridgell
parent 5d94172ada
commit 3ee112843c
1 changed files with 3 additions and 13 deletions
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14
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -499,14 +499,6 @@ void AP_InertialSensor_Invensense::start()
_register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);
hal.scheduler->delay(1);
// clear interrupt on any read, and hold the data ready pin high
// until we clear the interrupt
uint8_t v = _register_read(MPUREG_INT_PIN_CFG) | BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN;
if (_mpu_type == Invensense_ICM20789) {
v &= BIT_BYPASS_EN;
}
_register_write(MPUREG_INT_PIN_CFG, v);
// now that we have initialised, we set the bus speed to high
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
@ -962,12 +954,10 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
}
/* bus-dependent initialization */
if ((_dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C) && (_mpu_type == Invensense_MPU9250)) {
/* Enable I2C bypass to access internal AK8963 */
if (_mpu_type != Invensense_ICM20789) {
if ((_dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C) && (_mpu_type == Invensense_MPU9250 || _mpu_type == Invensense_ICM20789)) {
/* Enable I2C bypass to access internal device */
_register_write(MPUREG_INT_PIN_CFG, BIT_BYPASS_EN);
}
}
// Wake up device and select GyroZ clock. Note that the