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l3gd20: use the I2C disable bit on l3gd20H

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this seems to prevent a mpu6000 reset from causing an issue on the
l3gd20H
This commit is contained in:
Andrew Tridgell
2014-12-30 20:55:57 +01:00
committed by Thomas Gubler
parent b455d647b2
commit a8cea3a4da
1 changed files with 9 additions and 2 deletions
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src/drivers/l3gd20/l3gd20.cpp
+9 -2
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@@ -142,6 +142,7 @@ static const int ERROR = -1;
#define ADDR_INT1_TSH_ZH 0x36 #define ADDR_INT1_TSH_ZH 0x36
#define ADDR_INT1_TSH_ZL 0x37 #define ADDR_INT1_TSH_ZL 0x37
#define ADDR_INT1_DURATION 0x38 #define ADDR_INT1_DURATION 0x38
#define ADDR_LOW_ODR 0x39
/* Internal configuration values */ /* Internal configuration values */
@@ -244,7 +245,7 @@ private:
// this is used to support runtime checking of key // this is used to support runtime checking of key
// configuration registers to detect SPI bus errors and sensor // configuration registers to detect SPI bus errors and sensor
// reset // reset
#define L3GD20_NUM_CHECKED_REGISTERS 7 #define L3GD20_NUM_CHECKED_REGISTERS 8
static const uint8_t _checked_registers[L3GD20_NUM_CHECKED_REGISTERS]; static const uint8_t _checked_registers[L3GD20_NUM_CHECKED_REGISTERS];
uint8_t _checked_values[L3GD20_NUM_CHECKED_REGISTERS]; uint8_t _checked_values[L3GD20_NUM_CHECKED_REGISTERS];
uint8_t _checked_next; uint8_t _checked_next;
@@ -375,7 +376,8 @@ const uint8_t L3GD20::_checked_registers[L3GD20_NUM_CHECKED_REGISTERS] = { ADDR_
ADDR_CTRL_REG3, ADDR_CTRL_REG3,
ADDR_CTRL_REG4, ADDR_CTRL_REG4,
ADDR_CTRL_REG5, ADDR_CTRL_REG5,
ADDR_FIFO_CTRL_REG }; ADDR_FIFO_CTRL_REG,
ADDR_LOW_ODR };
L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotation) : L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotation) :
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */), SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
@@ -844,6 +846,11 @@ L3GD20::disable_i2c(void)
uint8_t a = read_reg(0x05); uint8_t a = read_reg(0x05);
write_reg(0x05, (0x20 | a)); write_reg(0x05, (0x20 | a));
if (read_reg(0x05) == (a | 0x20)) { if (read_reg(0x05) == (a | 0x20)) {
// this sets the I2C_DIS bit on the
// L3GD20H. The l3gd20 datasheet doesn't
// mention this register, but it does seem to
// accept it.
write_checked_reg(ADDR_LOW_ODR, 0x08);
return; return;
} }
} }