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mpu9250: mag relax scheduling and checks

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This commit is contained in:
Daniel Agar
2020-08-09 13:21:46 -04:00
parent fbc8e1b09e
commit 454433c2ef
1 changed files with 7 additions and 4 deletions
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src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp
+7 -4
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@@ -120,7 +120,7 @@ void MPU9250_AK8963::Run()
CNTL1_BIT::BIT_16 | CNTL1_BIT::CONTINUOUS_MODE_2); CNTL1_BIT::BIT_16 | CNTL1_BIT::CONTINUOUS_MODE_2);
_state = STATE::READ; _state = STATE::READ;
ScheduleOnInterval(10_ms, 100_ms); // 100 Hz ScheduleDelayed(100_ms);
} }
} else { } else {
@@ -175,8 +175,7 @@ void MPU9250_AK8963::Run()
if (buffer.ST2 & ST2_BIT::HOFL) { if (buffer.ST2 & ST2_BIT::HOFL) {
perf_count(_magnetic_sensor_overflow_perf); perf_count(_magnetic_sensor_overflow_perf);
} else if ((buffer.ST1 & ST1_BIT::DRDY) && (buffer.ST2 & ST2_BIT::BITM)) { } else if (buffer.ST2 & ST2_BIT::BITM) {
const int16_t x = combine(buffer.HXH, buffer.HXL); const int16_t x = combine(buffer.HXH, buffer.HXL);
const int16_t y = combine(buffer.HYH, buffer.HYL); const int16_t y = combine(buffer.HYH, buffer.HYL);
const int16_t z = combine(buffer.HZH, buffer.HZL); const int16_t z = combine(buffer.HZH, buffer.HZL);
@@ -192,6 +191,9 @@ void MPU9250_AK8963::Run()
success = true; success = true;
_consecutive_failures = 0; _consecutive_failures = 0;
ScheduleDelayed(20_ms); // ~50 Hz
return;
} }
} }
@@ -199,7 +201,7 @@ void MPU9250_AK8963::Run()
perf_count(_bad_transfer_perf); perf_count(_bad_transfer_perf);
_consecutive_failures++; _consecutive_failures++;
if (_consecutive_failures > 10) { if (_consecutive_failures > 100) {
Reset(); Reset();
return; return;
} }
@@ -207,6 +209,7 @@ void MPU9250_AK8963::Run()
// ensure mpu9250 slave sensor reading is configured // ensure mpu9250 slave sensor reading is configured
_mpu9250.I2CSlaveExternalSensorDataEnable(I2C_ADDRESS_DEFAULT, (uint8_t)Register::ST1, sizeof(TransferBuffer)); _mpu9250.I2CSlaveExternalSensorDataEnable(I2C_ADDRESS_DEFAULT, (uint8_t)Register::ST1, sizeof(TransferBuffer));
ScheduleDelayed(100_ms);
} }
break; break;