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MPU6050: Fix crash when enabling

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Avoid reconfiguring the device during web server context, which can
trigger a yield().  Instead defer the device initialization to loop().
This commit is contained in:
Will Miles 2024-07-09 02:22:04 -04:00
parent 7b248c8fb2
commit 8632d99341
1 changed files with 9 additions and 4 deletions
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13
usermods/mpu6050_imu/usermod_mpu6050_imu.h
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@ -87,11 +87,11 @@ class MPU6050Driver : public Usermod {
int16_t accel_offset[3]; int16_t accel_offset[3];
}; };
config_t config; config_t config;
bool configDirty = true; // does the configuration need an update?
// MPU control/status vars // MPU control/status vars
bool irqBound = false; // set true if we have bound the IRQ pin bool irqBound = false; // set true if we have bound the IRQ pin
bool dmpReady = false; // set true if DMP init was successful bool dmpReady = false; // set true if DMP init was successful
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes) uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer uint8_t fifoBuffer[64]; // FIFO storage buffer
@ -157,7 +157,10 @@ class MPU6050Driver : public Usermod {
um_data.u_type[8] = UMT_UINT32; um_data.u_type[8] = UMT_UINT32;
} }
configDirty = false; // we have now accepted the current configuration, success or not
if (!config.enabled) return; if (!config.enabled) return;
// TODO: notice if these have changed ??
if (i2c_scl<0 || i2c_sda<0) { DEBUG_PRINTLN(F("MPU6050: I2C is no good.")); return; } if (i2c_scl<0 || i2c_sda<0) { DEBUG_PRINTLN(F("MPU6050: I2C is no good.")); return; }
// Check the interrupt pin // Check the interrupt pin
if (config.interruptPin >= 0) { if (config.interruptPin >= 0) {
@ -182,7 +185,7 @@ class MPU6050Driver : public Usermod {
// load and configure the DMP // load and configure the DMP
DEBUG_PRINTLN(F("Initializing DMP...")); DEBUG_PRINTLN(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize(); auto devStatus = mpu.dmpInitialize();
// set offsets (from config) // set offsets (from config)
mpu.setXGyroOffset(config.gyro_offset[0]); mpu.setXGyroOffset(config.gyro_offset[0]);
@ -241,6 +244,8 @@ class MPU6050Driver : public Usermod {
* loop() is called continuously. Here you can check for events, read sensors, etc. * loop() is called continuously. Here you can check for events, read sensors, etc.
*/ */
void loop() { void loop() {
if (configDirty) setup();
// if programming failed, don't try to do anything // if programming failed, don't try to do anything
if (!config.enabled || !dmpReady || strip.isUpdating()) return; if (!config.enabled || !dmpReady || strip.isUpdating()) return;
@ -407,8 +412,8 @@ class MPU6050Driver : public Usermod {
irqBound = false; irqBound = false;
} }
// Just re-init // Re-call setup on the next loop()
setup(); configDirty = true;
} }
return configComplete; return configComplete;