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lsm303d: check DRDY after check_registers()

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this allows recovery from a state where DRDY is not set
This commit is contained in:
Andrew Tridgell
2015-01-01 08:51:52 +11:00
parent 1de7fab974
commit 083d9e3e69
1 changed files with 14 additions and 13 deletions
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src/drivers/lsm303d/lsm303d.cpp
+14 -13
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@@ -1437,19 +1437,6 @@ LSM303D::check_registers(void)
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.
// Note that DRDY is not available when the lsm303d is
// connected on the external bus
#ifdef GPIO_EXTI_ACCEL_DRDY
if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
perf_count(_accel_reschedules);
hrt_call_delay(&_accel_call, 100);
return;
}
#endif
/* status register and data as read back from the device */
#pragma pack(push, 1)
@@ -1469,6 +1456,20 @@ LSM303D::measure()
check_registers();
// 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.
// Note that DRDY is not available when the lsm303d is
// connected on the external bus
#ifdef GPIO_EXTI_ACCEL_DRDY
if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
perf_count(_accel_reschedules);
hrt_call_delay(&_accel_call, 100);
perf_end(_accel_sample_perf);
return;
}
#endif
if (_register_wait != 0) {
// we are waiting for some good transfers before using
// the sensor again.