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author | Andrew Tridgell <tridge@samba.org> | 2013-12-16 22:16:51 +1100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-16 15:06:45 +0100 |
commit | bccf65cc28edb8e68b38765c895e9f74604df92e (patch) | |
tree | 6df9d2c04b3a953bc8e69d4231af1a58073b3163 /src/drivers/mpu6000/mpu6000.cpp | |
parent | d53b00283e4b57611cc7e8c85a4dd1f18629aab0 (diff) | |
download | px4-firmware-bccf65cc28edb8e68b38765c895e9f74604df92e.tar.gz px4-firmware-bccf65cc28edb8e68b38765c895e9f74604df92e.tar.bz2 px4-firmware-bccf65cc28edb8e68b38765c895e9f74604df92e.zip |
mpu6000: disable interrupts during initial reset
this seems to avoid a problem where the mpu6000 doesn't startup
correctly if other devices are transferring at the same time.
Diffstat (limited to 'src/drivers/mpu6000/mpu6000.cpp')
-rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index be4e422b0..bbc595af4 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -505,17 +505,26 @@ out: void MPU6000::reset() { + // if the mpu6000 is initialised after the l3gd20 and lsm303d + // then if we don't do an irqsave/irqrestore here the mpu6000 + // frequenctly comes up in a bad state where all transfers + // come as zero + irqstate_t state; + state = irqsave(); - // Chip reset write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); up_udelay(10000); - // Wake up device and select GyroZ clock (better performance) + // Wake up device and select GyroZ clock. Note that the + // MPU6000 starts up in sleep mode, and it can take some time + // for it to come out of sleep write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); up_udelay(1000); // Disable I2C bus (recommended on datasheet) write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); + irqrestore(state); + up_udelay(1000); // SAMPLE RATE |