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| author | Andrew Tridgell <tridge@samba.org> | 2013-08-02 20:25:26 +1000 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-07 15:40:43 +0200 |
| commit | 547a747752e558f8d68b56c2cfb323ebd18ac223 (patch) | |
| tree | c05e2baa24d740ffbadfebe70b948b663f074d79 /src | |
| parent | 2c24888d6d34183ec01a148a84add27e72e1637c (diff) | |
| download | px4-firmware-547a747752e558f8d68b56c2cfb323ebd18ac223.tar.gz px4-firmware-547a747752e558f8d68b56c2cfb323ebd18ac223.tar.bz2 px4-firmware-547a747752e558f8d68b56c2cfb323ebd18ac223.zip | |
Merged commit disabling FIFO in L3GD20
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 98098c83b..1ffca2f43 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -333,8 +333,13 @@ L3GD20::init() write_reg(ADDR_CTRL_REG4, REG4_BDU); write_reg(ADDR_CTRL_REG5, 0); - write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ - write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */ + + write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ + + /* disable FIFO. This makes things simpler and ensures we + * aren't getting stale data. It means we must run the hrt + * callback fast enough to not miss data. */ + write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); set_range(500); /* default to 500dps */ set_samplerate(0); /* max sample rate */ |