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| author | Andrew Tridgell <tridge@samba.org> | 2013-12-06 20:52:31 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-10 12:04:46 +0100 |
| commit | 30ff61fa90179af00609738da6bd5365872d4f61 (patch) | |
| tree | 356987dace397be98e4a3587e63cde68de017763 /src/drivers/lsm303d/lsm303d.cpp | |
| parent | 0e97c288bbe5acde6358e10237d1bfb5e522ee19 (diff) | |
| download | px4-firmware-30ff61fa90179af00609738da6bd5365872d4f61.tar.gz px4-firmware-30ff61fa90179af00609738da6bd5365872d4f61.tar.bz2 px4-firmware-30ff61fa90179af00609738da6bd5365872d4f61.zip | |
lsm303d: use DRDY pins to automatically reschedule measurements
this prevents double reads of sensor data, and missing samples from
the accel
Diffstat (limited to 'src/drivers/lsm303d/lsm303d.cpp')
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 701947b98..6010a2ad7 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -286,6 +286,7 @@ private: perf_counter_t _reg7_resets; perf_counter_t _reg1_resets; perf_counter_t _extreme_values; + perf_counter_t _accel_reschedules; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -501,6 +502,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : _reg1_resets(perf_alloc(PC_COUNT, "lsm303d_reg1_resets")), _reg7_resets(perf_alloc(PC_COUNT, "lsm303d_reg7_resets")), _extreme_values(perf_alloc(PC_COUNT, "lsm303d_extremes")), + _accel_reschedules(perf_alloc(PC_COUNT, "lsm303d_accel_resched")), _accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), @@ -627,6 +629,8 @@ LSM303D::reset() _reg7_expected = REG7_CONT_MODE_M; write_reg(ADDR_CTRL_REG7, _reg7_expected); write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); + write_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1 + write_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2 accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); @@ -1430,6 +1434,14 @@ LSM303D::mag_measure_trampoline(void *arg) void LSM303D::measure() { + // if the accel doesn't have any data ready then re-schedule + // for 100 microseconds later. This ensures we don't double + // read a value and then miss the next value + if (stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) { + perf_count(_accel_reschedules); + hrt_call_delay(&_accel_call, 100); + return; + } if (read_reg(ADDR_CTRL_REG1) != _reg1_expected) { perf_count(_reg1_resets); reset(); |