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mpu6000: removed unsafe printf in interrupt context

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instead delay 3ms between register writes. This seems to give a quite
high probability of correctly resetting the sensor, and does still
reliably detect the sensor going bad, which is the most important
thing in this code
This commit is contained in:
Andrew Tridgell
2015-01-01 08:47:07 +11:00
parent b5f6fedfa8
commit 82b9e08e4c
1 changed files with 4 additions and 38 deletions
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src/drivers/mpu6000/mpu6000.cpp
+4 -38
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@@ -254,7 +254,6 @@ private:
uint8_t _register_wait;
uint64_t _reset_wait;
uint64_t _printf_wait;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
@@ -494,7 +493,6 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_reset_retries(perf_alloc(PC_COUNT, "mpu6000_reset_retries")),
_register_wait(0),
_reset_wait(0),
_printf_wait(0),
_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -1539,43 +1537,11 @@ MPU6000::check_registers(void)
_checked_next = 0;
} else {
write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
_reset_wait = hrt_absolute_time() + 1000;
if (_checked_next == 1 && hrt_absolute_time() > _printf_wait) {
/*
rather bizarrely this printf() seems
to be critical for successfully
resetting the sensor. If you take
this printf out then all the
registers do get successfully reset,
but the sensor ends up with a large
fixed offset on the
accelerometers. Try a up_udelay()
of various sizes instead of a
printf() doesn't work. That makes no
sense at all, and investigating why
this is would be worthwhile.
The rate limit on the printf to 5Hz
prevents this from causing enough
delays in interrupt context to cause
the vehicle to not be able to fly
correctly.
*/
_printf_wait = hrt_absolute_time() + 200*1000UL;
::printf("Setting %u %02x to %02x\n",
(unsigned)_checked_next,
(unsigned)_checked_registers[_checked_next],
(unsigned)_checked_values[_checked_next]);
}
// waiting 3ms between register writes seems
// to raise the chance of the sensor
// recovering considerably
_reset_wait = hrt_absolute_time() + 3000;
}
#if 0
if (_register_wait == 0) {
::printf("MPU6000: %02x:%02x should be %02x\n",
(unsigned)_checked_registers[_checked_next],
(unsigned)v,
(unsigned)_checked_values[_checked_next]);
}
#endif
_register_wait = 20;
}
_checked_next = (_checked_next+1) % MPU6000_NUM_CHECKED_REGISTERS;