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mpu9250:Added comment on BYPASSING the internal i2c master bridge

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This commit is contained in:
David Sidrane
2017-07-08 15:37:46 +02:00
committed by Lorenz Meier
parent c3addd931c
commit ef67b75057
1 changed files with 10 additions and 1 deletions
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src/drivers/mpu9250/mpu9250.cpp
+10 -1
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@@ -417,7 +417,16 @@ int MPU9250::reset()
#else
bool bypass = false;
#endif
// INT: Clear on any read, also use i2c bypass is master mode isn't needed
/* INT: Clear on any read.
* If this instance is for a device is on I2C bus the Mag will have an i2c interface
* that it will use to access the either: a) the internal mag device on the internal I2C bus
* or b) it could be used to access a downstream I2C devices connected to the chip on
* it's AUX_{ASD|SCL} pins. In either case we need to disconnect (bypass) the internal master
* controller that chip provides as a SPI to I2C bridge.
* so bypass is true if the mag has an i2c non null interfaces.
*/
write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR | (bypass ? BIT_INT_BYPASS_EN : 0));
write_checked_reg(MPUREG_ACCEL_CONFIG2, BITS_ACCEL_CONFIG2_41HZ);