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l3gd20: check DRDY after check_registers() is called

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this allows us to recover from an error that disables data ready
This commit is contained in:
Andrew Tridgell
2015-01-01 08:51:40 +11:00
parent 8db2066151
commit 1bb3974c84
1 changed files with 12 additions and 11 deletions
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src/drivers/l3gd20/l3gd20.cpp
+12 -11
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@@ -932,17 +932,6 @@ L3GD20::check_registers(void)
void void
L3GD20::measure() L3GD20::measure()
{ {
#if L3GD20_USE_DRDY
// if the gyro 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
if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
perf_count(_reschedules);
hrt_call_delay(&_call, 100);
return;
}
#endif
/* status register and data as read back from the device */ /* status register and data as read back from the device */
#pragma pack(push, 1) #pragma pack(push, 1)
struct { struct {
@@ -962,6 +951,18 @@ L3GD20::measure()
check_registers(); check_registers();
#if L3GD20_USE_DRDY
// if the gyro 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
if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
perf_count(_reschedules);
hrt_call_delay(&_call, 100);
perf_end(_sample_perf);
return;
}
#endif
/* fetch data from the sensor */ /* fetch data from the sensor */
memset(&raw_report, 0, sizeof(raw_report)); memset(&raw_report, 0, sizeof(raw_report));
raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT; raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;