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AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete

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This commit is contained in:
rmackay9 2012-09-06 14:08:23 +09:00
parent 55ef1e0a29
commit 7a265dbf61
2 changed files with 4 additions and 10 deletions
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12
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -353,7 +353,7 @@ static int16_t spi_transfer_16(void)
* to ensure this is the case, these other devices must perform their SPI reads after being * to ensure this is the case, these other devices must perform their SPI reads after being
* called by the AP_TimerProcess. * called by the AP_TimerProcess.
*/ */
void AP_InertialSensor_MPU6000::read() void AP_InertialSensor_MPU6000::read(uint32_t)
{ {
// record time that data was available // record time that data was available
_last_sample_time_micros = micros(); _last_sample_time_micros = micros();
@ -407,17 +407,11 @@ void AP_InertialSensor_MPU6000::register_write(uint8_t reg, uint8_t val)
// MPU6000 new data interrupt on INT6 // MPU6000 new data interrupt on INT6
void AP_InertialSensor_MPU6000::data_interrupt(void) void AP_InertialSensor_MPU6000::data_interrupt(void)
{ {
// stop the timer firing, to prevent SPI bus accesses by other drivers
_scheduler->suspend_timer();
// re-enable interrupts // re-enable interrupts
sei(); sei();
// read in samples from the MPU6000's data registers // queue our read process to run after any currently running timed processes complete
read(); _scheduler->queue_process( AP_InertialSensor_MPU6000::read );
// resume the timer
_scheduler->resume_timer();
} }
void AP_InertialSensor_MPU6000::hardware_init() void AP_InertialSensor_MPU6000::hardware_init()

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
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@ -57,7 +57,7 @@ public:
private: private:
static void read(); static void read(uint32_t);
static void data_interrupt(void); static void data_interrupt(void);
static uint8_t register_read( uint8_t reg ); static uint8_t register_read( uint8_t reg );
static void register_write( uint8_t reg, uint8_t val ); static void register_write( uint8_t reg, uint8_t val );