dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mpu6000: wait for 10ms after a full reset 

this prevents the mpu6000 getting in a really weird state!
This commit is contained in:
Andrew Tridgell 2014-12-29 20:45:31 +11:00 committed by Thomas Gubler
parent 333039d3db
commit e537de20e3
1 changed files with 24 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
src/drivers/mpu6000/mpu6000.cpp
View File

@ -253,6 +253,7 @@ private:
perf_counter_t _reset_retries;
uint8_t _register_wait;
uint64_t _reset_wait;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
@ -490,6 +491,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
_reset_retries(perf_alloc(PC_COUNT, "mpu6000_reset_retries")),
_register_wait(0),
_reset_wait(0),
_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@ -749,9 +751,9 @@ int MPU6000::reset()
usleep(1000);
// INT CFG => Interrupt on Data Ready
write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
usleep(1000);
write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
usleep(1000);
// Oscillator set
@ -800,7 +802,7 @@ MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
uint8_t div = 1000 / desired_sample_rate_hz;
if(div>200) div=200;
if(div<1) div=1;
write_reg(MPUREG_SMPLRT_DIV, div-1);
write_checked_reg(MPUREG_SMPLRT_DIV, div-1);
_sample_rate = 1000 / div;
}
@ -937,7 +939,7 @@ MPU6000::gyro_self_test()
/*
perform a self-test comparison to factory trim values. This takes
about 200ms and will return OK if the current values are within 14%
of the expected values
of the expected values (as per datasheet)
*/
int
MPU6000::factory_self_test()
@ -1518,10 +1520,20 @@ MPU6000::check_registers(void)
/*
try to fix the bad register value. We only try to
fix one per loop to prevent a bad sensor hogging the
bus. We skip zero as that is the PRODUCT_ID, which
is not writeable
bus.
*/
if (_checked_next != 0) {
if (_checked_next == 0) {
// if the product_id is wrong then reset the
// sensor completely
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
// after doing a reset we need to wait a long
// time before we do any other register writes
// or we will end up with the mpu6000 in a
// bizarre state where it has all correct
// register values but large offsets on the
// accel axes
_reset_wait = hrt_absolute_time() + 10000;
} else {
write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
}
#if 0
@ -1545,6 +1557,11 @@ MPU6000::measure()
return;
}
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
return;
}
struct MPUReport mpu_report;
struct Report {
int16_t accel_x;