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Fix for shipping MPU6050 versions (AFS=2 fix, only affected a couple sample boards with MPU6000-ES, MPU6050-EL now works).

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@156 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-05-17 15:22:04 +00:00
parent 18db641282
commit b929f79b54
5 changed files with 1513 additions and 1495 deletions
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7
src/drv_mpu6050.c
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@ -111,7 +111,8 @@
#define MPU_RA_WHO_AM_I 0x75
#define MPU6050_SMPLRT_DIV 0 //8000Hz
#define MPU6050_DLPF_CFG 0
// #define MPU6050_DLPF_CFG 0 // 256Hz
#define MPU6050_DLPF_CFG 3 // 42Hz
static void mpu6050AccInit(void);
static void mpu6050AccRead(int16_t * accData);
@ -164,7 +165,7 @@ static void mpu6050AccInit(void)
// note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256)
// confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480
// seems to be not a problem on MPU6000 lol
acc_1G = 512; // 1023;
acc_1G = 1023;
}
static void mpu6050AccRead(int16_t * accData)
@ -199,8 +200,8 @@ static void mpu6050GyroInit(void)
i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(5);
i2cWrite(MPU6050_ADDRESS, 0x19, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
#endif
}