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moved source files around in preparation to adding makefile build way

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added makefile (thx gke)
added linker script (thx gke)
moved startups into src directory as well
no code changes.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@105 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-06 04:41:23 +00:00
parent aae8ef4c3d
commit 5091f3e9ff
45 changed files with 229 additions and 14182 deletions
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60
src/drv_mpu3050.c Executable file
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#include "board.h"
// MPU3050, Standard address 0x68
#define MPU3050_ADDRESS 0x68
// Registers
#define MPU3050_SMPLRT_DIV 0x15
#define MPU3050_DLPF_FS_SYNC 0x16
#define MPU3050_INT_CFG 0x17
#define MPU3050_TEMP_OUT 0x1B
#define MPU3050_GYRO_OUT 0x1D
#define MPU3050_USER_CTRL 0x3D
#define MPU3050_PWR_MGM 0x3E
// Bits
#define MPU3050_FS_SEL_2000DPS 0x18
#define MPU3050_DLPF_20HZ 0x04
#define MPU3050_DLPF_42HZ 0x03
#define MPU3050_DLPF_98HZ 0x02
#define MPU3050_DLPF_188HZ 0x01
#define MPU3050_DLPF_256HZ 0x00
#define MPU3050_USER_RESET 0x01
#define MPU3050_CLK_SEL_PLL_GX 0x01
static uint8_t mpuLowPassFliter = MPU3050_DLPF_42HZ;
void mpu3050Init(void)
{
bool ack;
delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
ack = i2cWrite(MPU3050_ADDRESS, MPU3050_SMPLRT_DIV, 0);
if (!ack)
failureMode(3);
i2cWrite(MPU3050_ADDRESS, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | mpuLowPassFliter);
i2cWrite(MPU3050_ADDRESS, MPU3050_INT_CFG, 0);
i2cWrite(MPU3050_ADDRESS, MPU3050_USER_CTRL, MPU3050_USER_RESET);
i2cWrite(MPU3050_ADDRESS, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
}
// Read 3 gyro values into user-provided buffer. No overrun checking is done.
void mpu3050Read(int16_t *gyroData)
{
uint8_t buf[6];
i2cRead(MPU3050_ADDRESS, MPU3050_GYRO_OUT, 6, buf);
gyroData[0] = buf[0] << 8 | buf[1];
gyroData[1] = buf[2] << 8 | buf[3];
gyroData[2] = buf[4] << 8 | buf[5];
}
int16_t mpu3050ReadTemp(void)
{
uint8_t buf[2];
i2cRead(MPU3050_ADDRESS, MPU3050_TEMP_OUT, 2, buf);
return 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
}