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[imu] Fix MPU start bug

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This commit is contained in:
Freek van Tienen
2016-04-06 16:49:15 +02:00
parent d144a735a6
commit 81e7a24baa
1 changed files with 12 additions and 2 deletions
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sw/airborne/peripherals/mpu60x0_spi.c
+12 -2
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@@ -77,10 +77,20 @@ static void mpu60x0_spi_write_to_reg(void *mpu, uint8_t _reg, uint8_t _val)
void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu) void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
{ {
if (mpu->config.init_status == MPU60X0_CONF_UNINIT) { if (mpu->config.init_status == MPU60X0_CONF_UNINIT) {
mpu->config.init_status++;
if (mpu->spi_trans.status == SPITransSuccess || mpu->spi_trans.status == SPITransDone) { // First check if we found the chip (succesfull WHO_AM_I response)
if(mpu->spi_trans.status == SPITransSuccess && mpu->rx_buf[1] == MPU60X0_WHOAMI_REPLY) {
mpu->config.init_status++;
mpu->spi_trans.status = SPITransDone;
mpu60x0_send_config(mpu60x0_spi_write_to_reg, (void *)mpu, &(mpu->config)); mpu60x0_send_config(mpu60x0_spi_write_to_reg, (void *)mpu, &(mpu->config));
} }
// Send WHO_AM_I to check if chip is there
else if(mpu->spi_trans.status != SPITransRunning && mpu->spi_trans.status != SPITransPending) {
mpu->spi_trans.output_length = 1;
mpu->spi_trans.input_length = 2;
mpu->tx_buf[0] = MPU60X0_REG_WHO_AM_I | MPU60X0_SPI_READ;
spi_submit(mpu->spi_p, &(mpu->spi_trans));
}
} }
} }