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crazyflie: increase imu reading rate

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This commit is contained in:
DanielePettenuzzo
2018-05-22 12:21:45 +02:00
committed by Beat Küng
parent 2359b73d1f
commit f49fd2acc7
6 changed files with 71 additions and 37 deletions
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src/drivers/pmw3901/pmw3901.cpp
+14 -5
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@@ -78,11 +78,15 @@
/* Configuration Constants */
#ifdef PX4_SPI_BUS_EXPANSION
#define PMW3901_BUS PX4_SPI_BUS_EXPANSION /* fmu-v4pro: PX4_SPI_BUS_EXT1 | fmu-v5: PX4_SPI_BUS_EXTERNAL1 */
#define PMW3901_BUS PX4_SPI_BUS_EXPANSION
#else
#define PMW3901_BUS 0
#endif
#ifdef PX4_SPIDEV_EXPANSION_2
#define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2 /* fmu-v4pro: PX4_SPIDEV_EXT0 | fmu-v5: PX4_SPIDEV_EXTERNAL1_1 */
#define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
#else
#define PMW3901_SPIDEV 0
#endif
#define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz
@@ -235,7 +239,8 @@ PMW3901::sensorInit()
uint8_t data[5];
// initialize pmw3901 flow sensor
readRegister(0x00, &data[0], 1); // chip idreadRegister(0x5F, &data[1], 1); // inverse chip id
readRegister(0x00, &data[0], 1); // chip id
readRegister(0x5F, &data[1], 1); // inverse chip id
// Power on reset
writeRegister(0x3A, 0x5A);
@@ -331,6 +336,10 @@ PMW3901::sensorInit()
writeRegister(0x5A, 0x50);
writeRegister(0x40, 0x80);
writeRegister(0x7F, 0x00);
writeRegister(0x5A, 0x10);
writeRegister(0x54, 0x00);
ret = OK;
return ret;
@@ -643,7 +652,7 @@ PMW3901::start()
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&PMW3901::cycle_trampoline, this, 1000);
work_queue(LPWORK, &_work, (worker_t)&PMW3901::cycle_trampoline, this, 1000);
/* notify about state change */
struct subsystem_info_s info = {};
@@ -682,7 +691,7 @@ PMW3901::cycle()
collect();
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
work_queue(LPWORK,
&_work,
(worker_t)&PMW3901::cycle_trampoline,
this,