X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.c;h=650407ad8b679d8f98478e82e84da422b1c3bdce;hp=73057820933244555ac40b33c55ada50f4a42da5;hb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;hpb=0571531066918fdefe9447f3b4192d0c6c477afa

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 73057820..650407ad 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -21,7 +22,6 @@
 
 #if HAS_MPU6000
 
-static uint8_t	ao_mpu6000_wake;
 static uint8_t	ao_mpu6000_configured;
 
 #ifndef AO_MPU6000_I2C_INDEX
@@ -118,6 +118,7 @@ _ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
 
 #define G	981	/* in cm/s² */
 
+#if 0
 static int16_t /* cm/s² */
 ao_mpu6000_accel(int16_t v)
 {
@@ -129,32 +130,33 @@ ao_mpu6000_gyro(int16_t v)
 {
 	return (int16_t) ((v * (int32_t) 20000) / 32767);
 }
+#endif
 
 static uint8_t
-ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which)
+ao_mpu6000_accel_check(int16_t normal, int16_t test)
 {
 	int16_t	diff = test - normal;
 
-	if (diff < MPU6000_ST_ACCEL(16) / 2) {
+	if (diff < MPU6000_ST_ACCEL(16) / 4) {
 		return 1;
 	}
-	if (diff > MPU6000_ST_ACCEL(16) * 2) {
+	if (diff > MPU6000_ST_ACCEL(16) * 4) {
 		return 1;
 	}
 	return 0;
 }
 
 static uint8_t
-ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which)
+ao_mpu6000_gyro_check(int16_t normal, int16_t test)
 {
 	int16_t	diff = test - normal;
 
 	if (diff < 0)
 		diff = -diff;
-	if (diff < MPU6000_ST_GYRO(2000) / 2) {
+	if (diff < MPU6000_ST_GYRO(2000) / 4) {
 		return 1;
 	}
-	if (diff > MPU6000_ST_GYRO(2000) * 2) {
+	if (diff > MPU6000_ST_GYRO(2000) * 4) {
 		return 1;
 	}
 	return 0;
@@ -175,11 +177,14 @@ _ao_mpu6000_wait_alive(void)
 		ao_panic(AO_PANIC_SELF_TEST_MPU6000);
 }
 
+#define ST_TRIES	10
+
 static void
 _ao_mpu6000_setup(void)
 {
 	struct ao_mpu6000_sample	normal_mode, test_mode;
-	int				errors =0;
+	int				errors;
+	int				st_tries;
 
 	if (ao_mpu6000_configured)
 		return;
@@ -234,23 +239,6 @@ _ao_mpu6000_setup(void)
 			      (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
 			      (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG));
 
-	/* Configure accelerometer to +/-16G in self-test mode */
-	_ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
-			      (1 << MPU600_ACCEL_CONFIG_XA_ST) |
-			      (1 << MPU600_ACCEL_CONFIG_YA_ST) |
-			      (1 << MPU600_ACCEL_CONFIG_ZA_ST) |
-			      (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
-
-	/* Configure gyro to +/- 2000°/s in self-test mode */
-	_ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
-			      (1 << MPU600_GYRO_CONFIG_XG_ST) |
-			      (1 << MPU600_GYRO_CONFIG_YG_ST) |
-			      (1 << MPU600_GYRO_CONFIG_ZG_ST) |
-			      (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
-
-	ao_delay(AO_MS_TO_TICKS(200));
-	_ao_mpu6000_sample(&test_mode);
-
 #if TRIDGE
 	// read the product ID rev c has 1/2 the sensitivity of rev d
 	_mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
@@ -266,36 +254,58 @@ _ao_mpu6000_setup(void)
 		register_write(MPUREG_ACCEL_CONFIG,2<<3);
 	}
 	hal.scheduler->delay(1);
-
 #endif
 
-	/* Configure accelerometer to +/-16G */
-	_ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
-			      (0 << MPU600_ACCEL_CONFIG_XA_ST) |
-			      (0 << MPU600_ACCEL_CONFIG_YA_ST) |
-			      (0 << MPU600_ACCEL_CONFIG_ZA_ST) |
-			      (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
-
-	/* Configure gyro to +/- 2000°/s */
-	_ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
-			      (0 << MPU600_GYRO_CONFIG_XG_ST) |
-			      (0 << MPU600_GYRO_CONFIG_YG_ST) |
-			      (0 << MPU600_GYRO_CONFIG_ZG_ST) |
-			      (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
-
-	ao_delay(AO_MS_TO_TICKS(10));
-	_ao_mpu6000_sample(&normal_mode);
+	for (st_tries = 0; st_tries < ST_TRIES; st_tries++) {
+		errors = 0;
+
+		/* Configure accelerometer to +/-16G in self-test mode */
+		_ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
+				      (1 << MPU600_ACCEL_CONFIG_XA_ST) |
+				      (1 << MPU600_ACCEL_CONFIG_YA_ST) |
+				      (1 << MPU600_ACCEL_CONFIG_ZA_ST) |
+				      (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
+
+		/* Configure gyro to +/- 2000°/s in self-test mode */
+		_ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
+				      (1 << MPU600_GYRO_CONFIG_XG_ST) |
+				      (1 << MPU600_GYRO_CONFIG_YG_ST) |
+				      (1 << MPU600_GYRO_CONFIG_ZG_ST) |
+				      (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
+
+		ao_delay(AO_MS_TO_TICKS(200));
+		_ao_mpu6000_sample(&test_mode);
+
+		/* Configure accelerometer to +/-16G */
+		_ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
+				      (0 << MPU600_ACCEL_CONFIG_XA_ST) |
+				      (0 << MPU600_ACCEL_CONFIG_YA_ST) |
+				      (0 << MPU600_ACCEL_CONFIG_ZA_ST) |
+				      (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
+
+		/* Configure gyro to +/- 2000°/s */
+		_ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
+				      (0 << MPU600_GYRO_CONFIG_XG_ST) |
+				      (0 << MPU600_GYRO_CONFIG_YG_ST) |
+				      (0 << MPU600_GYRO_CONFIG_ZG_ST) |
+				      (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
+
+		ao_delay(AO_MS_TO_TICKS(200));
+		_ao_mpu6000_sample(&normal_mode);
 	
-	errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
-	errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
-	errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z");
-
-	errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x");
-	errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y");
-	errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
+		errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x);
+		errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y);
+		errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z);
+
+		errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x);
+		errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y);
+		errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z);
+		if (!errors)
+			break;
+	}
 
-	if (errors)
-		ao_panic(AO_PANIC_SELF_TEST_MPU6000);
+	if (st_tries == ST_TRIES)
+		ao_sensor_errors = 1;
 
 	/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
 	_ao_mpu6000_reg_write(MPU6000_CONFIG,