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AP_InertialSensor: reset the MPU9250 chip on startup

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Now that the initialization of MPU9250 is shared between the
AP_InertialSensor and other drivers using it as a backend, we can reset
the MPU9250 in order to put it in a known state.
This commit is contained in:
Lucas De Marchi 2015-07-02 21:23:46 -03:00 committed by Andrew Tridgell
parent 1deb837e70
commit efec7723ff
1 changed files with 13 additions and 1 deletions
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14
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -237,10 +237,22 @@ bool AP_InertialSensor_MPU9250::initialize_driver_state() {
// initially run the bus at low speed
spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
// Chip reset
uint8_t tries;
for (tries = 0; tries < 5; tries++) {
uint8_t user_ctrl = _register_read(spi, MPUREG_USER_CTRL);
/* First disable the master I2C to avoid hanging the slaves on the
* aulixiliar I2C bus */
if (user_ctrl & BIT_USER_CTRL_I2C_MST_EN) {
_register_write(spi, MPUREG_USER_CTRL, user_ctrl & ~BIT_USER_CTRL_I2C_MST_EN);
hal.scheduler->delay(10);
}
// reset device
_register_write(spi, MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
hal.scheduler->delay(100);
// disable I2C as recommended by the datasheet
_register_write(spi, MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);