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mpu6500 Fixed 'test' function causes register checking to find a false faults

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Added hold off of testing for register faults from the duration
      of the test.
This commit is contained in:
David Sidrane 2017-04-11 12:46:51 -10:00 committed by Lorenz Meier
parent c3c5be3881
commit ff3994da1b
1 changed files with 10 additions and 1 deletions
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11
src/drivers/mpu6500/mpu6500.cpp
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@ -700,11 +700,14 @@ int MPU6500::reset()
// frequenctly comes up in a bad state where all transfers
// come as zero
uint8_t tries = 5;
irqstate_t state;
while (--tries != 0) {
irqstate_t state;
state = px4_enter_critical_section();
// Hold off sampling for 60 ms
_reset_wait = hrt_absolute_time() + 60000;
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
@ -726,6 +729,12 @@ int MPU6500::reset()
usleep(2000);
}
// Hold off sampling for 30 ms
state = px4_enter_critical_section();
_reset_wait = hrt_absolute_time() + 30000;
px4_leave_critical_section(state);
if (read_reg(MPUREG_PWR_MGMT_1) != MPU_CLK_SEL_PLLGYROZ) {
return -EIO;
}