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Merge pull request #186 from cleanflight/cc3d-mpu6000-detection-fix 

CC3D - Attempt MPU6000 SPI detection multiple times.
This commit is contained in:
Dominic Clifton 2014-11-26 14:56:50 +00:00
parent d41e8631ee e454e44b1e
commit 4261185068
2 changed files with 5006 additions and 4999 deletions
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9988
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)
{
uint8_t in;
uint8_t attemptsRemaining = 5;
if (mpuSpi6000InitDone) {
return true;
}
@ -163,11 +163,18 @@ bool mpu6000SpiDetect(void)
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
mpu6000WriteRegister(MPU6000_PWR_MGMT_1, BIT_H_RESET);
delay(150);
mpu6000ReadRegister(MPU6000_WHOAMI, &in, 1);
if (in != MPU6000_WHO_AM_I_CONST)
return false;
do {
delay(150);
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);