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Fix MPU6000 reset #12371

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merged 1 commit into from
Feb 16, 2023
Merged

Fix MPU6000 reset #12371

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6 changes: 3 additions & 3 deletions src/main/drivers/accgyro/accgyro_mpu.c
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Expand Up @@ -339,6 +339,9 @@ bool mpuGyroReadSPI(gyroDev_t *gyro)
typedef uint8_t (*gyroSpiDetectFn_t)(const extDevice_t *dev);

static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
#ifdef USE_GYRO_SPI_ICM20689
icm20689SpiDetect, // icm20689SpiDetect detects ICM20602 and ICM20689
#endif
#ifdef USE_GYRO_SPI_MPU6000
mpu6000SpiDetect,
#endif
Expand All @@ -348,9 +351,6 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
#ifdef USE_GYRO_SPI_MPU9250
mpu9250SpiDetect,
#endif
#ifdef USE_GYRO_SPI_ICM20689
icm20689SpiDetect, // icm20689SpiDetect detects ICM20602 and ICM20689
#endif
#ifdef USE_ACCGYRO_LSM6DSO
lsm6dsoDetect,
#endif
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7 changes: 3 additions & 4 deletions src/main/drivers/accgyro/accgyro_spi_mpu6000.c
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Expand Up @@ -132,6 +132,9 @@ uint8_t mpu6000SpiDetect(const extDevice_t *dev)
// reset the device configuration
spiWriteReg(dev, MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(100); // datasheet specifies a 100ms delay after reset
// reset the device signal paths
spiWriteReg(dev, MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
delay(100); // datasheet specifies a 100ms delay after signal path reset

const uint8_t whoAmI = spiReadRegMsk(dev, MPU_RA_WHO_AM_I);
delayMicroseconds(1); // Ensure CS high time is met which is violated on H7 without this delay
Expand All @@ -158,10 +161,6 @@ uint8_t mpu6000SpiDetect(const extDevice_t *dev)
case MPU6000_REV_D10:
detectedSensor = MPU_60x0_SPI;
}

// reset the device signal paths
spiWriteReg(dev, MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
delay(100); // datasheet specifies a 100ms delay after signal path reset
}

return detectedSensor;
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