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Disable ICM426XX AFSR feature to prevent stalls #13132

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Oct 23, 2023
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Disable ICM426XX AFSR feature to prevent stalls #13132

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12 changes: 12 additions & 0 deletions src/main/drivers/accgyro/accgyro_spi_icm426xx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,11 @@
#define ICM426XX_BANK_SELECT3 0x03
#define ICM426XX_BANK_SELECT4 0x04

// Fix for stalls in gyro output. See https://github.com/ArduPilot/ardupilot/pull/25332
#define ICM426XX_INTF_CONFIG1 0x4D
#define ICM426XX_INTF_CONFIG1_AFSR_MASK 0xC0
#define ICM426XX_INTF_CONFIG1_AFSR_DISABLE 0x40

#define ICM426XX_RA_PWR_MGMT0 0x4E // User Bank 0
#define ICM426XX_PWR_MGMT0_ACCEL_MODE_LN (3 << 0)
#define ICM426XX_PWR_MGMT0_GYRO_MODE_LN (3 << 2)
Expand Down Expand Up @@ -274,6 +279,13 @@ void icm426xxGyroInit(gyroDev_t *gyro)

spiWriteReg(dev, ICM426XX_RA_INT_CONFIG1, intConfig1Value);

// Disable AFSR to prevent stalls in gyro output
uint8_t intfConfig1Value = spiReadRegMsk(dev, ICM426XX_INTF_CONFIG1);
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Add comment about ICM426XX_INTF_CONFIG1 location in user bank 0
Also, is is really necessary use 3 lines for mask-and-set operation, which is idiomatic in low level programming ?

spiWriteReg(dev, ICM426XX_INTF_CONFIG1, (intfConfig1 & ~ICM426XX_INTF_CONFIG1_AFSR_MASK) | ICM426XX_INTF_CONFIG1_AFSR_DISABLE);

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Agreed, but I simply followed the style of the adjacent code. I tend to try to follow the style of any code being maintained to avoid a confusing mix. Happy to make the obvious enhancement in which case I’d do the same for the other initialisation.

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@ledvinap ledvinap Oct 22, 2023 •
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I know. This is just minor case, and maybe only my personal preference.
The code style will slowly spread as new drivers are written based on old ones. Maybe mixing both is not that dangerous - with little luck, someone will use better one when creating new driver.

The comment is more important. It can lead to bugs when modification of other register is added.

intfConfig1Value &= ~ICM426XX_INTF_CONFIG1_AFSR_MASK;
intfConfig1Value |= ICM426XX_INTF_CONFIG1_AFSR_DISABLE;
spiWriteReg(dev, ICM426XX_INTF_CONFIG1, intfConfig1Value);


// Turn on gyro and acc on again so ODR and FSR can be configured
turnGyroAccOn(dev);

Expand Down