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Fixed i2c not running (#5408)

This commit is contained in:
Lorenz Meier 2016-09-01 09:19:30 +02:00 committed by GitHub
parent d219b8cf46
commit 48a94e3570
1 changed files with 6 additions and 10 deletions
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16
src/drivers/mpu6000/mpu6000.cpp
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@ -708,14 +708,8 @@ int MPU6000::reset()
write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
up_udelay(1000);
if (is_i2c()) {
// Enable I2C bus (recommended on datasheet)
write_checked_reg(MPUREG_USER_CTRL, 0);
} else {
// Disable I2C bus (recommended on datasheet)
write_checked_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
}
// Enable I2C bus or Disable I2C bus (recommended on data sheet)
write_checked_reg(MPUREG_USER_CTRL, is_i2c() ? 0 : BIT_I2C_IF_DIS);
px4_leave_critical_section(state);
@ -1661,13 +1655,15 @@ void
MPU6000::start()
{
/* make sure we are stopped first */
uint32_t last_call_interval = _call_interval;
stop();
_call_interval = last_call_interval;
/* discard any stale data in the buffers */
_accel_reports->flush();
_gyro_reports->flush();
if (_use_hrt) {
if (!is_i2c()) {
/* start polling at the specified rate */
hrt_call_every(&_call,
1000,
@ -1686,7 +1682,7 @@ void
MPU6000::stop()
{
if (_use_hrt) {
if (!is_i2c()) {
hrt_cancel(&_call);
} else {