fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-26 09:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ADIS16477 reset on init and increase delay

Browse Source
This commit is contained in:
Daniel Agar
2018-07-06 21:40:39 -04:00
parent 00c34d8a2b
commit 74c20a0fd5
2 changed files with 11 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/adis16477/ADIS16477.cpp
+9 -2
View File
@@ -68,7 +68,7 @@ static constexpr uint8_t PROD_ID = 0x72;
#define PROD_ID_ADIS16477 0x405D /* ADIS16477 Identification, device number */
#define T_STALL 16
#define T_STALL 200
#define GYROINITIALSENSITIVITY 250
#define ACCELINITIALSENSITIVITY (1.0f / 1200.0f)
@@ -81,6 +81,14 @@ ADIS16477::ADIS16477(int bus, const char *path_accel, const char *path_gyro, uin
_bad_transfers(perf_alloc(PC_COUNT, "adis16477_bad_transfers")),
_rotation(rotation)
{
#ifdef GPIO_SPI1_RESET_ADIS16477
// ADIS16477 reset pin
stm32_configgpio(GPIO_SPI1_RESET_ADIS16477);
stm32_gpiowrite(GPIO_SPI1_RESET_ADIS16477, false);
up_mdelay(10);
stm32_gpiowrite(GPIO_SPI1_RESET_ADIS16477, true);
#endif /* GPIO_SPI1_RESET_ADIS16477 */
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ADIS16477;
_gyro->_device_id.devid = _device_id.devid;
@@ -217,7 +225,6 @@ ADIS16477::probe()
return PX4_OK;
}
PX4_ERR("PROD_ID attempt %d", i);
up_udelay(T_STALL);
}
src/drivers/imu/adis16477/CMakeLists.txt
+2
View File
@@ -33,6 +33,8 @@
px4_add_module(
MODULE drivers__imu__adis16477
MAIN adis16477
STACK_MAIN 1200
COMPILE_FLAGS
SRCS
ADIS16477.cpp
ADIS16477_gyro.cpp