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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-14 08:58:30 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-14 08:58:30 +0100 |
| commit | 33b84186e3492660007c5b46c5e988e8acef60fa (patch) | |
| tree | a28e5060117149a7641d50daa6eb2bcdde94a364 /src/drivers/px4fmu/fmu.cpp | |
| parent | 993f7212104814db917943bedb471990f040a532 (diff) | |
| download | px4-firmware-33b84186e3492660007c5b46c5e988e8acef60fa.tar.gz px4-firmware-33b84186e3492660007c5b46c5e988e8acef60fa.tar.bz2 px4-firmware-33b84186e3492660007c5b46c5e988e8acef60fa.zip | |
Patching up MPU6K pin disable defines
Diffstat (limited to 'src/drivers/px4fmu/fmu.cpp')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index b28d318d7..4b1b0ed0b 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -1108,10 +1108,12 @@ PX4FMU::sensor_reset(int ms) stm32_configgpio(GPIO_SPI_CS_GYRO_OFF); stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF); stm32_configgpio(GPIO_SPI_CS_BARO_OFF); + stm32_configgpio(GPIO_SPI_CS_MPU_OFF); stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0); stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0); + stm32_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0); stm32_configgpio(GPIO_SPI1_SCK_OFF); stm32_configgpio(GPIO_SPI1_MISO_OFF); @@ -1124,10 +1126,12 @@ PX4FMU::sensor_reset(int ms) stm32_configgpio(GPIO_GYRO_DRDY_OFF); stm32_configgpio(GPIO_MAG_DRDY_OFF); stm32_configgpio(GPIO_ACCEL_DRDY_OFF); + stm32_configgpio(GPIO_EXTI_MPU_DRDY_OFF); stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0); stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0); stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0); + stm32_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0); /* set the sensor rail off */ stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); @@ -1160,6 +1164,13 @@ PX4FMU::sensor_reset(int ms) stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + + // // XXX bring up the EXTI pins again + // stm32_configgpio(GPIO_GYRO_DRDY); + // stm32_configgpio(GPIO_MAG_DRDY); + // stm32_configgpio(GPIO_ACCEL_DRDY); + // stm32_configgpio(GPIO_EXTI_MPU_DRDY); + #endif #endif } |