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Update MPU6000 SPI detection code - sending a reset is required before 

it's reliably able to be detected.
This commit is contained in:
Dominic Clifton 2014-11-22 12:56:03 +00:00
parent c5139fb9dc
commit 4db1d58aaf
2 changed files with 5836 additions and 4931 deletions
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10729
obj/cleanflight_CC3D.hex
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File diff suppressed because it is too large Load Diff

26
src/main/drivers/accgyro_spi_mpu6000.c
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@ -38,6 +38,8 @@
#include "accgyro.h" #include "accgyro.h"
#include "accgyro_spi_mpu6000.h" #include "accgyro_spi_mpu6000.h"
static bool mpuSpi6000InitDone = false;
// Registers // Registers
#define MPU6000_PRODUCT_ID 0x0C #define MPU6000_PRODUCT_ID 0x0C
#define MPU6000_SMPLRT_DIV 0x19 #define MPU6000_SMPLRT_DIV 0x19
@ -154,25 +156,26 @@ bool mpu6000SpiDetect(void)
{ {
uint8_t in; uint8_t in;
if (mpuSpi6000InitDone) {
return true;
}
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);
delay(150);
mpu6000ReadRegister(MPU6000_WHOAMI, &in, 1); mpu6000ReadRegister(MPU6000_WHOAMI, &in, 1);
if (in != MPU6000_WHO_AM_I_CONST) if (in != MPU6000_WHO_AM_I_CONST)
return false; return false;
return true;
#if 0
// FIXME this isn't working, not debugged yet.
uint8_t product;
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER); mpu6000ReadRegister(MPU6000_PRODUCT_ID, &in, 1);
mpu6000ReadRegister(MPU6000_PRODUCT_ID, &product, 1);
/* look for a product ID we recognise */ /* look for a product ID we recognise */
// verify product revision // verify product revision
switch (product) { switch (in) {
case MPU6000ES_REV_C4: case MPU6000ES_REV_C4:
case MPU6000ES_REV_C5: case MPU6000ES_REV_C5:
case MPU6000_REV_C4: case MPU6000_REV_C4:
@ -189,14 +192,11 @@ bool mpu6000SpiDetect(void)
} }
return false; return false;
#endif
} }
static bool initDone = false;
void mpu6000AccAndGyroInit() { void mpu6000AccAndGyroInit() {
if (initDone) { if (mpuSpi6000InitDone) {
return; return;
} }
@ -233,7 +233,7 @@ void mpu6000AccAndGyroInit() {
mpu6000WriteRegister(MPU6000_GYRO_CONFIG, BITS_FS_2000DPS); mpu6000WriteRegister(MPU6000_GYRO_CONFIG, BITS_FS_2000DPS);
delayMicroseconds(1); delayMicroseconds(1);
initDone = true; mpuSpi6000InitDone = true;
} }
bool mpu6000SpiAccDetect(acc_t *acc) bool mpu6000SpiAccDetect(acc_t *acc)