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mpu6000: try resetting the mpu6000 up to 5 times

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this mirrors the ardupilot driver. We have seen situations where the
mpu6000 on the Pixhawk comes up in SLEEP mode, despite a reset
This commit is contained in:
Andrew Tridgell
2014-12-30 20:55:57 +01:00
committed by Thomas Gubler
parent 03c40d5d91
commit ae3a92569d
1 changed files with 37 additions and 21 deletions
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src/drivers/mpu6000/mpu6000.cpp
+37 -21
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@@ -233,6 +233,7 @@ private:
perf_counter_t _bad_transfers;
perf_counter_t _bad_registers;
perf_counter_t _good_transfers;
perf_counter_t _reset_retries;
uint8_t _register_wait;
@@ -248,7 +249,7 @@ private:
// this is used to support runtime checking of key
// configuration registers to detect SPI bus errors and sensor
// reset
#define MPU6000_NUM_CHECKED_REGISTERS 4
#define MPU6000_NUM_CHECKED_REGISTERS 5
static const uint8_t _checked_registers[MPU6000_NUM_CHECKED_REGISTERS];
uint8_t _checked_values[MPU6000_NUM_CHECKED_REGISTERS];
uint8_t _checked_next;
@@ -268,7 +269,7 @@ private:
*
* Resets the chip and measurements ranges, but not scale and offset.
*/
void reset();
int reset();
/**
* Static trampoline from the hrt_call context; because we don't have a
@@ -383,7 +384,8 @@ private:
const uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS] = { MPUREG_PRODUCT_ID,
MPUREG_GYRO_CONFIG,
MPUREG_ACCEL_CONFIG,
MPUREG_USER_CTRL };
MPUREG_USER_CTRL,
MPUREG_PWR_MGMT_1};
/**
@@ -443,6 +445,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "mpu6000_bad_registers")),
_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
_reset_retries(perf_alloc(PC_COUNT, "mpu6000_reset_retries")),
_register_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),
@@ -524,7 +527,8 @@ MPU6000::init()
if (_gyro_reports == nullptr)
goto out;
reset();
if (reset() != OK)
goto out;
/* Initialize offsets and scales */
_accel_scale.x_offset = 0;
@@ -609,27 +613,39 @@ out:
return ret;
}
void MPU6000::reset()
int MPU6000::reset()
{
// if the mpu6000 is initialised after the l3gd20 and lsm303d
// then if we don't do an irqsave/irqrestore here the mpu6000
// frequenctly comes up in a bad state where all transfers
// come as zero
irqstate_t state;
state = irqsave();
uint8_t tries = 5;
while (--tries != 0) {
irqstate_t state;
state = irqsave();
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
// Wake up device and select GyroZ clock. Note that the
// MPU6000 starts up in sleep mode, and it can take some time
// for it to come out of sleep
write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
up_udelay(1000);
// Wake up device and select GyroZ clock. Note that the
// MPU6000 starts up in sleep mode, and it can take some time
// for it to come out of sleep
write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
up_udelay(1000);
// Disable I2C bus (recommended on datasheet)
write_checked_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
// Disable I2C bus (recommended on datasheet)
write_checked_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
if (read_reg(MPUREG_PWR_MGMT_1) == MPU_CLK_SEL_PLLGYROZ) {
break;
}
perf_count(_reset_retries);
usleep(2000);
}
if (read_reg(MPUREG_PWR_MGMT_1) != MPU_CLK_SEL_PLLGYROZ) {
return -EIO;
}
usleep(1000);
@@ -698,6 +714,7 @@ void MPU6000::reset()
// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
usleep(1000);
return OK;
}
int
@@ -913,8 +930,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
switch (cmd) {
case SENSORIOCRESET:
reset();
return OK;
return reset();
case SENSORIOCSPOLLRATE: {
switch (arg) {
@@ -1306,9 +1322,8 @@ MPU6000::check_registers(void)
}
#endif
_register_wait = 20;
} else {
_checked_next = (_checked_next+1) % MPU6000_NUM_CHECKED_REGISTERS;
}
_checked_next = (_checked_next+1) % MPU6000_NUM_CHECKED_REGISTERS;
}
void
@@ -1524,6 +1539,7 @@ MPU6000::print_info()
perf_print_counter(_bad_transfers);
perf_print_counter(_bad_registers);
perf_print_counter(_good_transfers);
perf_print_counter(_reset_retries);
_accel_reports->print_info("accel queue");
_gyro_reports->print_info("gyro queue");
::printf("checked_next: %u\n", _checked_next);