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invensense/icm42688p: add additional state FIFO_RESET

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This state is added to give extra time between  FIFO flush command. Some icm42688p IMUs need more time between config -> FIFO reset -> FIFO read. More about the issue  #20181
This commit is contained in:
Igor Mišić 2022-09-09 17:22:19 +02:00 committed by Daniel Agar
parent efcf4c95fd
commit 296b1704c5
2 changed files with 23 additions and 16 deletions
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38
src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -171,21 +171,9 @@ void ICM42688P::RunImpl()
case STATE::CONFIGURE:
if (Configure()) {
// if configure succeeded then start reading from FIFO
_state = STATE::FIFO_READ;
if (DataReadyInterruptConfigure()) {
_data_ready_interrupt_enabled = true;
// backup schedule as a watchdog timeout
ScheduleDelayed(100_ms);
} else {
_data_ready_interrupt_enabled = false;
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
}
FIFOReset();
// if configure succeeded then reset the FIFO
_state = STATE::FIFO_RESET;
ScheduleDelayed(1_ms);
} else {
// CONFIGURE not complete
@ -202,6 +190,24 @@ void ICM42688P::RunImpl()
break;
case STATE::FIFO_RESET:
_state = STATE::FIFO_READ;
FIFOReset();
if (DataReadyInterruptConfigure()) {
_data_ready_interrupt_enabled = true;
// backup schedule as a watchdog timeout
ScheduleDelayed(100_ms);
} else {
_data_ready_interrupt_enabled = false;
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
}
break;
case STATE::FIFO_READ: {
hrt_abstime timestamp_sample = now;
uint8_t samples = 0;

1
src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
View File

@ -165,6 +165,7 @@ private:
RESET,
WAIT_FOR_RESET,
CONFIGURE,
FIFO_RESET,
FIFO_READ,
} _state{STATE::RESET};