Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

XXX 9250 mpuResetFn doesn't work this way

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

15
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View file

@ -76,12 +76,15 @@ static bool mpu9250SpiSlowReadRegisterBuffer(const busDevice_t *bus, uint8_t reg
void mpu9250SpiResetGyro(void) void mpu9250SpiResetGyro(void)
{ {
#if 0
// XXX This doesn't work. Need a proper busDevice_t.
// Device Reset // Device Reset
#ifdef MPU9250_CS_PIN #ifdef MPU9250_CS_PIN
busDevice_t bus = { .spi = { .csnPin = IOGetByTag(IO_TAG(MPU9250_CS_PIN)) } }; busDevice_t bus = { .spi = { .csnPin = IOGetByTag(IO_TAG(MPU9250_CS_PIN)) } };
mpu9250SpiWriteRegister(&bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET); mpu9250SpiWriteRegister(&bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
delay(150); delay(150);
#endif #endif
#endif
} }
void mpu9250SpiGyroInit(gyroDev_t *gyro) void mpu9250SpiGyroInit(gyroDev_t *gyro)
@ -90,14 +93,14 @@ void mpu9250SpiGyroInit(gyroDev_t *gyro)
mpu9250AccAndGyroInit(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); mpuGyroRead(gyro);
if ((((int8_t)gyro->gyroADCRaw[1]) == -1 && ((int8_t)gyro->gyroADCRaw[0]) == -1) || spiGetErrorCounter(gyro->bus.spi.instance) != 0) { if ((((int8_t)gyro->gyroADCRaw[1]) == -1 && ((int8_t)gyro->gyroADCRaw[0]) == -1) || spiGetErrorCounter(gyro->bus.busdev_u.spi.instance) != 0) {
spiResetErrorCounter(gyro->bus.spi.instance); spiResetErrorCounter(gyro->bus.busdev_u.spi.instance);
failureMode(FAILURE_GYRO_INIT_FAILED); failureMode(FAILURE_GYRO_INIT_FAILED);
} }
} }
@ -133,7 +136,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
return; 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); mpu9250SpiWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
delay(50); 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. mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
#endif #endif
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST); spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_FAST);
mpuSpi9250InitDone = true; //init done mpuSpi9250InitDone = true; //init done
} }