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| author | Andrew Tridgell <tridge@samba.org> | 2013-10-28 15:50:33 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-28 13:10:52 +0100 |
| commit | 52ee477137a293d40fc552f4100c52d19b142fc1 (patch) | |
| tree | fa015c2a63a09b4622996106edcba505ee26671b /src/drivers/lsm303d | |
| parent | 75a0c18a9e56ac64e043cce00223ea8a627d24a5 (diff) | |
| download | px4-firmware-52ee477137a293d40fc552f4100c52d19b142fc1.tar.gz px4-firmware-52ee477137a293d40fc552f4100c52d19b142fc1.tar.bz2 px4-firmware-52ee477137a293d40fc552f4100c52d19b142fc1.zip | |
lsm303d: try to reset the lsm303d if it goes bad in flight
this is based on earlier work by Julian Oes
Diffstat (limited to 'src/drivers/lsm303d')
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 32 |
1 files changed, 29 insertions, 3 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 8bed8a8df..60601e22c 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -241,11 +241,18 @@ private: perf_counter_t _accel_sample_perf; perf_counter_t _mag_sample_perf; + perf_counter_t _reg7_resets; + perf_counter_t _reg1_resets; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; math::LowPassFilter2p _accel_filter_z; + // expceted values of reg1 and reg7 to catch in-flight + // brownouts of the sensor + uint8_t _reg7_expected; + uint8_t _reg1_expected; + /** * Start automatic measurement. */ @@ -434,9 +441,13 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : _mag_read(0), _accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")), _mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")), + _reg1_resets(perf_alloc(PC_COUNT, "lsm303d_reg1_resets")), + _reg7_resets(perf_alloc(PC_COUNT, "lsm303d_reg7_resets")), _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) + _accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), + _reg1_expected(0), + _reg7_expected(0) { // enable debug() calls _debug_enabled = true; @@ -526,10 +537,12 @@ void LSM303D::reset() { /* enable accel*/ - write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE); + _reg1_expected = REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A; + write_reg(ADDR_CTRL_REG1, _reg1_expected); /* enable mag */ - write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); + _reg7_expected = REG7_CONT_MODE_M; + write_reg(ADDR_CTRL_REG7, _reg7_expected); write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); @@ -1133,6 +1146,7 @@ LSM303D::accel_set_samplerate(unsigned frequency) } modify_reg(ADDR_CTRL_REG1, clearbits, setbits); + _reg1_expected = (_reg1_expected & ~clearbits) | setbits; return OK; } @@ -1210,6 +1224,12 @@ LSM303D::mag_measure_trampoline(void *arg) void LSM303D::measure() { + if (read_reg(ADDR_CTRL_REG1) != _reg1_expected) { + perf_count(_reg1_resets); + reset(); + return; + } + /* status register and data as read back from the device */ #pragma pack(push, 1) @@ -1282,6 +1302,12 @@ LSM303D::measure() void LSM303D::mag_measure() { + if (read_reg(ADDR_CTRL_REG7) != _reg7_expected) { + perf_count(_reg7_resets); + reset(); + return; + } + /* status register and data as read back from the device */ #pragma pack(push, 1) struct { |