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Mpu6050 usermod crash fix #4048

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Jul 10, 2024
Merged

Mpu6050 usermod crash fix #4048

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13 changes: 9 additions & 4 deletions usermods/mpu6050_imu/usermod_mpu6050_imu.h
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Original file line number Diff line number Diff line change
Expand Up @@ -87,11 +87,11 @@ class MPU6050Driver : public Usermod {
int16_t accel_offset[3];
};
config_t config;
bool configDirty = true; // does the configuration need an update?

// MPU control/status vars
bool irqBound = false; // set true if we have bound the IRQ pin
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 fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
Expand Down Expand Up @@ -157,7 +157,10 @@ class MPU6050Driver : public Usermod {
um_data.u_type[8] = UMT_UINT32;
}

configDirty = false; // we have now accepted the current configuration, success or not

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; }
// Check the interrupt pin
if (config.interruptPin >= 0) {
Expand All @@ -182,7 +185,7 @@ class MPU6050Driver : public Usermod {

// load and configure the DMP
DEBUG_PRINTLN(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
auto devStatus = mpu.dmpInitialize();

// set offsets (from config)
mpu.setXGyroOffset(config.gyro_offset[0]);
Expand Down Expand Up @@ -241,6 +244,8 @@ class MPU6050Driver : public Usermod {
* loop() is called continuously. Here you can check for events, read sensors, etc.
*/
void loop() {
if (configDirty) setup();

// if programming failed, don't try to do anything
if (!config.enabled || !dmpReady || strip.isUpdating()) return;

Expand Down Expand Up @@ -407,8 +412,8 @@ class MPU6050Driver : public Usermod {
irqBound = false;
}

// Just re-init
setup();
// Re-call setup on the next loop()
configDirty = true;
}

return configComplete;
Expand Down