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l3gd20: added I2C disable based on method from ST engineering support

This commit is contained in:
Andrew Tridgell 2013-11-28 20:29:33 +11:00
parent 720f6ab313
commit cb76f07d31
1 changed files with 17 additions and 0 deletions
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17
src/drivers/l3gd20/l3gd20.cpp
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@ -218,6 +218,11 @@ private:
*/
void reset();
/**
* disable I2C on the chip
*/
void disable_i2c();
/**
* Static trampoline from the hrt_call context; because we don't have a
* generic hrt wrapper yet.
@ -574,6 +579,7 @@ L3GD20::read_reg(unsigned reg)
uint8_t cmd[2];
cmd[0] = reg | DIR_READ;
cmd[1] = 0;
transfer(cmd, cmd, sizeof(cmd));
@ -699,9 +705,19 @@ L3GD20::stop()
hrt_cancel(&_call);
}
void
L3GD20::disable_i2c(void)
{
uint8_t a = read_reg(0x05);
write_reg(0x05, (0x20 | a));
}
void
L3GD20::reset()
{
// ensure the chip doesn't interpret any other bus traffic as I2C
disable_i2c();
/* set default configuration */
write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */
@ -753,6 +769,7 @@ L3GD20::measure()
perf_begin(_sample_perf);
/* fetch data from the sensor */
memset(&raw_report, 0, sizeof(raw_report));
raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));