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Code Issues Wiki Activity

Correct accelerometer initialization for MPU6000 and MPU9250 (#5559)

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Accelerometer should be initialized to 16G scale.
This commit is contained in:
etracer65 2018-03-30 00:11:14 -04:00 • committed by Michael Keller
parent 11e22e634f
commit 59dbe0e4e3
2 changed files with 5 additions and 5 deletions
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6
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
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@ -120,7 +120,7 @@ void mpu6000SpiGyroInit(gyroDev_t *gyro)
void mpu6000SpiAccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 8;
acc->acc_1G = 512 * 4;
}
uint8_t mpu6000SpiDetect(const busDevice_t *bus)
@ -205,8 +205,8 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
spiBusWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delayMicroseconds(15);
// Accel +/- 8 G Full Scale
spiBusWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
// Accel +/- 16 G Full Scale
spiBusWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delayMicroseconds(15);
spiBusWriteRegister(&gyro->bus, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR

4
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View file

@ -106,7 +106,7 @@ void mpu9250SpiGyroInit(gyroDev_t *gyro)
void mpu9250SpiAccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 8;
acc->acc_1G = 512 * 4;
}
bool mpu9250SpiWriteRegisterVerify(const busDevice_t *bus, uint8_t reg, uint8_t data)
@ -148,7 +148,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_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
#if defined(USE_MPU_DATA_READY_SIGNAL)