diff options
| author | Keith Packard <keithp@keithp.com> | 2013-05-14 22:12:09 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-05-14 22:12:09 -0700 |
| commit | cbbe024725a829c664599420f621064a3e7822c4 (patch) | |
| tree | 2fb5e99857d3dc56bf2b076b1a08b43ef2caae5f | |
| parent | fc4f86810a05abd03e6ab200585f3efc15b9ceeb (diff) | |
altos: Mess around with MPU6000 init some more
Try to get it to come up reliably
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/drivers/ao_mpu6000.c | 31 |
1 files changed, 19 insertions, 12 deletions
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index ef08bfd4..73057820 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -161,14 +161,9 @@ ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which) } static void -_ao_mpu6000_setup(void) +_ao_mpu6000_wait_alive(void) { - struct ao_mpu6000_sample normal_mode, test_mode; - int errors =0; - int i; - - if (ao_mpu6000_configured) - return; + uint8_t i; /* Wait for the chip to wake up */ for (i = 0; i < 30; i++) { @@ -178,6 +173,18 @@ _ao_mpu6000_setup(void) } if (i == 30) ao_panic(AO_PANIC_SELF_TEST_MPU6000); +} + +static void +_ao_mpu6000_setup(void) +{ + struct ao_mpu6000_sample normal_mode, test_mode; + int errors =0; + + if (ao_mpu6000_configured) + return; + + _ao_mpu6000_wait_alive(); /* Reset the whole chip */ @@ -186,7 +193,7 @@ _ao_mpu6000_setup(void) /* Wait for it to reset. If we talk too quickly, it appears to get confused */ - ao_delay(AO_MS_TO_TICKS(100)); + _ao_mpu6000_wait_alive(); /* Reset signal conditioning, disabling I2C on SPI systems */ _ao_mpu6000_reg_write(MPU6000_USER_CTRL, @@ -198,7 +205,7 @@ _ao_mpu6000_setup(void) (1 << MPU6000_USER_CTRL_SIG_COND_RESET)); while (_ao_mpu6000_reg_read(MPU6000_USER_CTRL) & (1 << MPU6000_USER_CTRL_SIG_COND_RESET)) - ao_yield(); + ao_delay(AO_MS_TO_TICKS(10)); /* Reset signal paths */ _ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET, @@ -219,10 +226,10 @@ _ao_mpu6000_setup(void) (0 << MPU6000_PWR_MGMT_1_TEMP_DIS) | (MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL)); - /* Set sample rate divider to sample at full speed - _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0); + /* Set sample rate divider to sample at full speed */ + _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0); - /* Disable filtering */ + /* Disable filtering */ _ao_mpu6000_reg_write(MPU6000_CONFIG, (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) | (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG)); |