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PMW3901 add register write delay (TIME_us_TSWW)

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This commit is contained in:
Daniel Agar
2019-08-17 10:57:59 -04:00
parent ab92f3ab7d
commit 9aad996b04
2 changed files with 6 additions and 1 deletions
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5
src/drivers/optical_flow/pmw3901/PMW3901.cpp
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@@ -33,6 +33,8 @@
#include "PMW3901.hpp"
static constexpr uint32_t TIME_us_TSWW = 11; // - actually 10.5us
PMW3901::PMW3901(int bus, enum Rotation yaw_rotation) :
SPI("PMW3901", PMW3901_DEVICE_PATH, bus, PMW3901_SPIDEV, SPIDEV_MODE0, PMW3901_SPI_BUS_SPEED),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
@@ -71,6 +73,7 @@ PMW3901::sensorInit()
usleep(1000);
// set performance optimization registers
// from PixArt PMW3901MB Optical Motion Tracking chip demo kit V3.20 (21 Aug 2018)
unsigned char v = 0;
unsigned char c1 = 0;
unsigned char c2 = 0;
@@ -287,6 +290,8 @@ PMW3901::writeRegister(unsigned reg, uint8_t data)
return ret;
}
px4_usleep(TIME_us_TSWW);
return ret;
}

2
src/drivers/optical_flow/pmw3901/PMW3901.hpp
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@@ -41,7 +41,7 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <drivers/device/spi.h>
#include <conversion/rotation.h>
#include <lib/perf/perf_counter.h>