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Revert "[driver/mpu6500] wait until coming out of sleep mode to read WHO_AM_I, directly taken from #2538" 

This reverts commit 52c104f4b8.

This reverts commit 5572cb0575.
This commit is contained in:
borisbstyle 2017-03-07 15:43:29 +01:00
parent 52c104f4b8
commit 9776629f25
1 changed files with 18 additions and 27 deletions
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45
src/main/drivers/accgyro_spi_mpu6500.c
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@ -37,8 +37,6 @@
#define DISABLE_MPU6500 IOHi(mpuSpi6500CsPin) #define DISABLE_MPU6500 IOHi(mpuSpi6500CsPin)
#define ENABLE_MPU6500 IOLo(mpuSpi6500CsPin) #define ENABLE_MPU6500 IOLo(mpuSpi6500CsPin)
#define BIT_SLEEP 0x40
static IO_t mpuSpi6500CsPin = IO_NONE; static IO_t mpuSpi6500CsPin = IO_NONE;
bool mpu6500WriteRegister(uint8_t reg, uint8_t data) bool mpu6500WriteRegister(uint8_t reg, uint8_t data)
@ -81,35 +79,28 @@ static void mpu6500SpiInit(void)
static uint8_t mpuDetected = MPU_NONE; static uint8_t mpuDetected = MPU_NONE;
uint8_t mpu6500SpiDetect(void) uint8_t mpu6500SpiDetect(void)
{ {
uint8_t tmp = 0, detectRetries = 0; uint8_t tmp;
mpu6500SpiInit(); mpu6500SpiInit();
delayMicroseconds(15); mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
do {
mpu6500ReadRegister(MPU_RA_PWR_MGMT_1, 1, &tmp);
detectRetries++;
} while (tmp != BIT_SLEEP && detectRetries < 30);
if (tmp == BIT_SLEEP) { switch (tmp) {
mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp); case MPU6500_WHO_AM_I_CONST:
delayMicroseconds(15); mpuDetected = MPU_65xx_SPI;
switch (tmp) { break;
case MPU6500_WHO_AM_I_CONST: case MPU9250_WHO_AM_I_CONST:
mpuDetected = MPU_65xx_SPI; case MPU9255_WHO_AM_I_CONST:
break; mpuDetected = MPU_9250_SPI;
case MPU9250_WHO_AM_I_CONST: break;
mpuDetected = MPU_9250_SPI; case ICM20608G_WHO_AM_I_CONST:
break; mpuDetected = ICM_20608_SPI;
case ICM20608G_WHO_AM_I_CONST: break;
mpuDetected = ICM_20608_SPI; case ICM20602_WHO_AM_I_CONST:
break; mpuDetected = ICM_20602_SPI;
case ICM20602_WHO_AM_I_CONST: break;
mpuDetected = ICM_20602_SPI; default:
break; mpuDetected = MPU_NONE;
default:
mpuDetected = MPU_NONE;
}
} }
return mpuDetected; return mpuDetected;
} }