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lsm303d: use DRDY pins to automatically reschedule measurements 

this prevents double reads of sensor data, and missing samples from
the accel
This commit is contained in:
Andrew Tridgell 2013-12-06 20:52:31 +11:00 committed by Lorenz Meier
parent 0e97c288bb
commit 30ff61fa90
1 changed files with 12 additions and 0 deletions
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12
src/drivers/lsm303d/lsm303d.cpp
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@ -286,6 +286,7 @@ private:
perf_counter_t _reg7_resets;
perf_counter_t _reg1_resets;
perf_counter_t _extreme_values;
perf_counter_t _accel_reschedules;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
@ -501,6 +502,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
_reg1_resets(perf_alloc(PC_COUNT, "lsm303d_reg1_resets")),
_reg7_resets(perf_alloc(PC_COUNT, "lsm303d_reg7_resets")),
_extreme_values(perf_alloc(PC_COUNT, "lsm303d_extremes")),
_accel_reschedules(perf_alloc(PC_COUNT, "lsm303d_accel_resched")),
_accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@ -627,6 +629,8 @@ LSM303D::reset()
_reg7_expected = REG7_CONT_MODE_M;
write_reg(ADDR_CTRL_REG7, _reg7_expected);
write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
write_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
write_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);
@ -1430,6 +1434,14 @@ LSM303D::mag_measure_trampoline(void *arg)
void
LSM303D::measure()
{
// if the accel doesn't have any data ready then re-schedule
// for 100 microseconds later. This ensures we don't double
// read a value and then miss the next value
if (stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
perf_count(_accel_reschedules);
hrt_call_delay(&_accel_call, 100);
return;
}
if (read_reg(ADDR_CTRL_REG1) != _reg1_expected) {
perf_count(_reg1_resets);
reset();