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Code Issues Wiki Activity

XXX 9250 mpuResetFn doesn't work this way

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This commit is contained in:
jflyper 2017-07-16 13:32:01 +09:00
parent 8c5c6c1385
commit 36dd4c824b
1 changed files with 9 additions and 6 deletions
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15
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
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@ -76,12 +76,15 @@ static bool mpu9250SpiSlowReadRegisterBuffer(const busDevice_t *bus, uint8_t reg
void mpu9250SpiResetGyro(void)
{
#if 0
// XXX This doesn't work. Need a proper busDevice_t.
// Device Reset
#ifdef MPU9250_CS_PIN
busDevice_t bus = { .spi = { .csnPin = IOGetByTag(IO_TAG(MPU9250_CS_PIN)) } };
mpu9250SpiWriteRegister(&bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
delay(150);
#endif
#endif
}
void mpu9250SpiGyroInit(gyroDev_t *gyro)
@ -90,14 +93,14 @@ void mpu9250SpiGyroInit(gyroDev_t *gyro)
mpu9250AccAndGyroInit(gyro);
spiResetErrorCounter(gyro->bus.spi.instance);
spiResetErrorCounter(gyro->bus.busdev_u.spi.instance);
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST); //high speed now that we don't need to write to the slow registers
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_FAST); //high speed now that we don't need to write to the slow registers
mpuGyroRead(gyro);
if ((((int8_t)gyro->gyroADCRaw[1]) == -1 && ((int8_t)gyro->gyroADCRaw[0]) == -1) || spiGetErrorCounter(gyro->bus.spi.instance) != 0) {
spiResetErrorCounter(gyro->bus.spi.instance);
if ((((int8_t)gyro->gyroADCRaw[1]) == -1 && ((int8_t)gyro->gyroADCRaw[0]) == -1) || spiGetErrorCounter(gyro->bus.busdev_u.spi.instance) != 0) {
spiResetErrorCounter(gyro->bus.busdev_u.spi.instance);
failureMode(FAILURE_GYRO_INIT_FAILED);
}
}
@ -133,7 +136,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
return;
}
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_INITIALIZATON); //low speed for writing to slow registers
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_INITIALIZATON); //low speed for writing to slow registers
mpu9250SpiWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
delay(50);
@ -161,7 +164,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
#endif
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST);
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_FAST);
mpuSpi9250InitDone = true; //init done
}