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Code Issues Wiki Activity

Fix MPU6500 Detect

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borisbstyle 2015-10-07 21:18:14 +02:00
parent 9ddc12d257
commit 1fc4f8601f
2 changed files with 5 additions and 2 deletions
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4
src/main/drivers/accgyro_mpu6500.c
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@ -27,6 +27,7 @@
#include "system.h"
#include "exti.h"
#include "gpio.h"
#include "gyro_sync.h"
#include "sensor.h"
#include "accgyro.h"
@ -55,6 +56,7 @@ bool mpu6500GyroDetect(gyro_t *gyro)
gyro->init = mpu6500GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
@ -94,7 +96,7 @@ void mpu6500GyroInit(uint16_t lpf)
mpuConfiguration.write(MPU6500_RA_GYRO_CFG, INV_FSR_2000DPS << 3);
mpuConfiguration.write(MPU6500_RA_ACCEL_CFG, INV_FSR_8G << 3);
mpuConfiguration.write(MPU6500_RA_LPF, mpuLowPassFilter);
mpuConfiguration.write(MPU6500_RA_RATE_DIV, 0); // 1kHz S/R
mpuConfiguration.write(MPU6500_RA_RATE_DIV, gyroMPU6xxxGetDividerDrops()); // 1kHz S/R
// Data ready interrupt configuration
mpuConfiguration.write(MPU6500_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN

3
src/main/drivers/accgyro_spi_mpu6500.c
View file

@ -133,9 +133,10 @@ bool mpu6500SpiGyroDetect(gyro_t *gyro)
gyro->init = mpu6500GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
return true;
}
}