rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

CC3D - Attempt MPU6000 SPI detection multiple times. 

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9988
obj/cleanflight_CC3D.hex
View File

File diff suppressed because it is too large Load Diff

17
src/main/drivers/accgyro_spi_mpu6000.c
View File

@ -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);