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https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
Fix for shipping MPU6050 versions (AFS=2 fix, only affected a couple sample boards with MPU6000-ES, MPU6050-EL now works).
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@156 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop
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5 changed files with 1513 additions and 1495 deletions
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File diff suppressed because it is too large
Load diff
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@ -111,7 +111,8 @@
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#define MPU_RA_WHO_AM_I 0x75
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#define MPU6050_SMPLRT_DIV 0 //8000Hz
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#define MPU6050_DLPF_CFG 0
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// #define MPU6050_DLPF_CFG 0 // 256Hz
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#define MPU6050_DLPF_CFG 3 // 42Hz
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static void mpu6050AccInit(void);
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static void mpu6050AccRead(int16_t * accData);
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@ -164,7 +165,7 @@ static void mpu6050AccInit(void)
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// 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)
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// confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480
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// seems to be not a problem on MPU6000 lol
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acc_1G = 512; // 1023;
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acc_1G = 1023;
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}
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static void mpu6050AccRead(int16_t * accData)
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@ -199,8 +200,8 @@ static void mpu6050GyroInit(void)
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i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
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delay(5);
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i2cWrite(MPU6050_ADDRESS, 0x19, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
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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)
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i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
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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)
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i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
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#endif
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}
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16
src/mw.c
16
src/mw.c
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@ -248,6 +248,11 @@ void computeRC(void)
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}
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}
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#if 0
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uint32_t trollTime = 0;
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uint16_t cn = 0xffff, cx = 0x0;
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#endif
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void loop(void)
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{
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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
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@ -603,4 +608,15 @@ void loop(void)
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mixTable();
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writeServos();
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writeMotors();
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#if 0
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while (micros() < trollTime + 2000);
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LED0_TOGGLE;
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{
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if (cycleTime < cn)
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cn = cycleTime;
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if (cycleTime > cx)
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cx = cycleTime;
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}
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#endif
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}
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