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CC3D - Attempt MPU6000 SPI detection multiple times.

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On two CC3D boards tested prior to this fix the mpu6000ReadRegister call
for the MPU6000_WHOAMI would sometimes fail on code boot and sometimes
on warm boot, randomly.  

The reset added in 4db1d58aaf helps but
didn't fix detection for good.
This commit is contained in:
Dominic Clifton 2014-11-25 23:36:37 +00:00
parent 9a9c789c69
commit e454e44b1e
2 changed files with 5006 additions and 4999 deletions
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9560
obj/cleanflight_CC3D.hex
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File diff suppressed because it is too large Load diff

17
src/main/drivers/accgyro_spi_mpu6000.c
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@ -155,7 +155,7 @@ void mpu6000SpiAccInit(void)
bool mpu6000SpiDetect(void) bool mpu6000SpiDetect(void)
{ {
uint8_t in; uint8_t in;
uint8_t attemptsRemaining = 5;
if (mpuSpi6000InitDone) { if (mpuSpi6000InitDone) {
return true; return true;
} }
@ -163,11 +163,18 @@ bool mpu6000SpiDetect(void)
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER); spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
mpu6000WriteRegister(MPU6000_PWR_MGMT_1, BIT_H_RESET); mpu6000WriteRegister(MPU6000_PWR_MGMT_1, BIT_H_RESET);
delay(150);
mpu6000ReadRegister(MPU6000_WHOAMI, &in, 1); do {
if (in != MPU6000_WHO_AM_I_CONST) delay(150);
return false;
mpu6000ReadRegister(MPU6000_WHOAMI, &in, 1);
if (in == MPU6000_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {
return false;
}
} while (attemptsRemaining--);
mpu6000ReadRegister(MPU6000_PRODUCT_ID, &in, 1); mpu6000ReadRegister(MPU6000_PRODUCT_ID, &in, 1);