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mpu6000: disable interrupts during initial reset

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this seems to avoid a problem where the mpu6000 doesn't startup
correctly if other devices are transferring at the same time.
This commit is contained in:
Andrew Tridgell 2013-12-16 22:16:51 +11:00 committed by Lorenz Meier
parent d53b00283e
commit bccf65cc28
1 changed files with 11 additions and 2 deletions
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13
src/drivers/mpu6000/mpu6000.cpp
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@ -505,17 +505,26 @@ out:
void 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();
// Chip reset
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
// Wake up device and select GyroZ clock (better performance)
// 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);
// Disable I2C bus (recommended on datasheet)
write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
up_udelay(1000);
// SAMPLE RATE