Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-24 15:40:31 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

Fixed failure notices on mpu9250 startup by adding back device probing on I2C interface init.

Browse Source
This commit is contained in:
Florian Olbrich
2019-01-09 11:47:49 +01:00
committed by Daniel Agar
parent 280a60c86f
commit fb386580b8
1 changed files with 20 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+20 -33
View File
@@ -107,43 +107,30 @@ MPU9250_I2C::read(unsigned reg_speed, void *data, unsigned count)
int
MPU9250_I2C::probe()
{
// uint8_t whoami = 0;
// uint8_t reg_whoami = 0;
// uint8_t expected = 0;
// uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948
uint8_t whoami = 0;
uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948
// switch (_whoami) {
// case MPU_WHOAMI_9250:
// reg_whoami = MPUREG_WHOAMI;
// expected = MPU_WHOAMI_9250;
// break;
// Try first for mpu9250/6500
read(MPUREG_WHOAMI, &whoami, 1);
// case MPU_WHOAMI_6500:
// reg_whoami = MPUREG_WHOAMI;
// expected = MPU_WHOAMI_6500;
// break;
if(whoami == MPU_WHOAMI_9250 || whoami == MPU_WHOAMI_6500) {
return PX4_OK;
}
else {
/*
* If it's not an MPU it must be an ICM
* Make sure register bank 0 is selected - whoami is only present on bank 0, and that is
* not sure e.g. if the device has rebooted without repowering the sensor
*/
write(ICMREG_20948_BANK_SEL, &register_select, 1);
read(ICMREG_20948_WHOAMI, &whoami, 1);
// case ICM_WHOAMI_20948:
// reg_whoami = ICMREG_20948_WHOAMI;
// expected = ICM_WHOAMI_20948;
// /*
// * make sure register bank 0 is selected - whoami is only present on bank 0, and that is
// * not sure e.g. if the device has rebooted without repowering the sensor
// */
// write(ICMREG_20948_BANK_SEL, &register_select, 1);
if(whoami == ICM_WHOAMI_20948) {
return PX4_OK;
}
}
// break;
// }
// return (read(reg_whoami, &whoami, 1) == OK && (whoami == expected)) ? 0 : -EIO;
// // Try the mpu9250/6500 first
// read(MPUREG_WHOAMI, &whoami, 1);
// if (whoami == MPU_WHOAMI_9250)
// this does not matter
return PX4_OK;
return -ENODEV;
}
#endif /* USE_I2C */