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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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62
baseflight.uvopt
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@ -768,10 +768,10 @@
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@ -957,10 +957,10 @@
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8
obj/baseflight.hex
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@ -165,8 +165,8 @@
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2915
obj/baseflight_fy90q.hex
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File diff suppressed because it is too large Load diff

7
src/drv_mpu6050.c
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@ -111,7 +111,8 @@
#define MPU_RA_WHO_AM_I 0x75 #define MPU_RA_WHO_AM_I 0x75
#define MPU6050_SMPLRT_DIV 0 //8000Hz #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 mpu6050AccInit(void);
static void mpu6050AccRead(int16_t * accData); 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) // 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 // 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 // seems to be not a problem on MPU6000 lol
acc_1G = 512; // 1023; acc_1G = 1023;
} }
static void mpu6050AccRead(int16_t * accData) 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 i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(5); delay(5);
i2cWrite(MPU6050_ADDRESS, 0x19, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) 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, 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 i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
#endif #endif
} }

16
src/mw.c
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@ -248,6 +248,11 @@ void computeRC(void)
} }
} }
#if 0
uint32_t trollTime = 0;
uint16_t cn = 0xffff, cx = 0x0;
#endif
void loop(void) void loop(void)
{ {
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
@ -603,4 +608,15 @@ void loop(void)
mixTable(); mixTable();
writeServos(); writeServos();
writeMotors(); writeMotors();
#if 0
while (micros() < trollTime + 2000);
LED0_TOGGLE;
{
if (cycleTime < cn)
cn = cycleTime;
if (cycleTime > cx)
cx = cycleTime;
}
#endif
} }