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mpu6000: check WHOAMI register 

this prevents a mpu9250 being seen as a mpu6000
This commit is contained in:
Andrew Tridgell 2015-08-12 16:13:55 +10:00 committed by Lorenz Meier
parent 0e6cdecfad
commit f77620c3f4
1 changed files with 9 additions and 0 deletions
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9
src/drivers/mpu6000/mpu6000.cpp
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@ -147,6 +147,8 @@
#define BIT_I2C_IF_DIS 0x10
#define BIT_INT_STATUS_DATA 0x01
#define MPU_WHOAMI_6000 0x68
// Product ID Description for MPU6000
// high 4 bits low 4 bits
// Product Name Product Revision
@ -755,6 +757,13 @@ int MPU6000::reset()
int
MPU6000::probe()
{
uint8_t whoami;
whoami = read_reg(MPUREG_WHOAMI);
if (whoami != MPU_WHOAMI_6000) {
DEVICE_DEBUG("unexpected WHOAMI 0x%02x", whoami);
return -EIO;
}
/* look for a product ID we recognise */
_product = read_reg(MPUREG_PRODUCT_ID);