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lsm303d: added two more checked registers

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these are key for DRDY behaviour
This commit is contained in:
Andrew Tridgell
2015-01-01 08:45:25 +11:00
parent 2ac3a6fcf4
commit e4318345f3
1 changed files with 5 additions and 3 deletions
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src/drivers/lsm303d/lsm303d.cpp
+5 -3
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@@ -297,7 +297,7 @@ private:
// this is used to support runtime checking of key
// configuration registers to detect SPI bus errors and sensor
// reset
#define LSM303D_NUM_CHECKED_REGISTERS 6
#define LSM303D_NUM_CHECKED_REGISTERS 8
static const uint8_t _checked_registers[LSM303D_NUM_CHECKED_REGISTERS];
uint8_t _checked_values[LSM303D_NUM_CHECKED_REGISTERS];
uint8_t _checked_next;
@@ -474,6 +474,8 @@ private:
const uint8_t LSM303D::_checked_registers[LSM303D_NUM_CHECKED_REGISTERS] = { ADDR_WHO_AM_I,
ADDR_CTRL_REG1,
ADDR_CTRL_REG2,
ADDR_CTRL_REG3,
ADDR_CTRL_REG4,
ADDR_CTRL_REG5,
ADDR_CTRL_REG6,
ADDR_CTRL_REG7 };
@@ -708,8 +710,8 @@ LSM303D::reset()
/* enable mag */
write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
write_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
write_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);