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corrections

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borisbstyle 2015-09-15 23:40:22 +02:00
parent dae052632c
commit 3c0e5eb8be
2 changed files with 3 additions and 8 deletions
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9
src/main/drivers/accgyro_mpu6050.c
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@ -420,14 +420,9 @@ static void mpu6050GyroInit(void)
bool ack;
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(100);
<<<<<<< HEAD
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDivider()); //SMPLRT_DIV -- SMPLRT_DIV = 7 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
=======
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
>>>>>>> master
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDivider()); //SMPLRT_DIV -- SMPLRT_DIV = 7 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, mpuLowPassFilter); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec

2
src/main/drivers/accgyro_spi_mpu6500.c
View file

@ -76,7 +76,7 @@ static void mpu6500AccInit(void);
static bool mpu6500AccRead(int16_t *accData);
static void mpu6500GyroInit(void);
static bool mpu6500GyroRead(int16_t *gyroADC);
static bool checkMPU6500Interrupt(bool *gyroIsUpdated);
static void checkMPU6500Interrupt(bool *gyroIsUpdated);
extern uint16_t acc_1G;