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removed mpu6050_scale cli since it's now autodetected.

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the value is now printed in the status command, after MPU6050 as MPU6050.n = new revision, MPU6050.o = old revision.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@278 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-02-22 11:04:32 +00:00
parent fc185b8e15
commit bc627783f8
5 changed files with 3177 additions and 4173 deletions
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7332
obj/baseflight.hex
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File diff suppressed because it is too large Load diff

6
src/cli.c
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@ -156,7 +156,6 @@ const clivalue_t valueTable[] = {
{ "acc_trim_roll", VAR_INT16, &cfg.angleTrim[ROLL], -300, 300 }, { "acc_trim_roll", VAR_INT16, &cfg.angleTrim[ROLL], -300, 300 },
{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 }, { "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
{ "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 }, { "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 },
{ "mpu6050_scale", VAR_UINT8, &cfg.mpu6050_scale, 0, 1 },
{ "baro_tab_size", VAR_UINT8, &cfg.baro_tab_size, 0, BARO_TAB_SIZE_MAX }, { "baro_tab_size", VAR_UINT8, &cfg.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
{ "baro_noise_lpf", VAR_FLOAT, &cfg.baro_noise_lpf, 0, 1 }, { "baro_noise_lpf", VAR_FLOAT, &cfg.baro_noise_lpf, 0, 1 },
{ "baro_cf", VAR_FLOAT, &cfg.baro_cf, 0, 1 }, { "baro_cf", VAR_FLOAT, &cfg.baro_cf, 0, 1 },
@ -748,8 +747,11 @@ static void cliStatus(char *cmdline)
if (mask & (1 << i)) if (mask & (1 << i))
printf("%s ", sensorNames[i]); printf("%s ", sensorNames[i]);
} }
if (sensors(SENSOR_ACC)) if (sensors(SENSOR_ACC)) {
printf("ACCHW: %s", accNames[accHardware]); printf("ACCHW: %s", accNames[accHardware]);
if (accHardware == ACC_MPU6050)
printf(".%c", cfg.mpu6050_scale ? 'n' : 'o');
}
uartPrint("\r\n"); uartPrint("\r\n");
printf("Cycle Time: %d, I2C Errors: %d\r\n", cycleTime, i2cGetErrorCounter()); printf("Cycle Time: %d, I2C Errors: %d\r\n", cycleTime, i2cGetErrorCounter());

6
src/drv_mpu6050.c
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@ -145,7 +145,7 @@ int16_t dmpGyroData[3];
extern uint16_t acc_1G; extern uint16_t acc_1G;
static uint8_t mpuAccelHalf = 0; static uint8_t mpuAccelHalf = 0;
bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale) bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t *scale)
{ {
bool ack; bool ack;
uint8_t sig, rev; uint8_t sig, rev;
@ -195,6 +195,10 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale)
gyro->read = mpu6050GyroRead; gyro->read = mpu6050GyroRead;
gyro->align = mpu6050GyroAlign; gyro->align = mpu6050GyroAlign;
// give halfacc (old revision) back to system
if (scale)
*scale = mpuAccelHalf;
#ifdef MPU6050_DMP #ifdef MPU6050_DMP
mpu6050DmpInit(); mpu6050DmpInit();
#endif #endif

2
src/drv_mpu6050.h
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@ -1,5 +1,5 @@
#pragma once #pragma once
bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale); bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t *scale);
void mpu6050DmpLoop(void); void mpu6050DmpLoop(void);
void mpu6050DmpResetFifo(void); void mpu6050DmpResetFifo(void);

4
src/sensors.c
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@ -36,7 +36,7 @@ void sensorsAutodetect(void)
bool havel3g4200d = false; bool havel3g4200d = false;
// Autodetect gyro hardware. We have MPU3050 or MPU6050. // Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro, cfg.mpu6050_scale)) { if (mpu6050Detect(&acc, &gyro, &cfg.mpu6050_scale)) {
// this filled up acc.* struct with init values // this filled up acc.* struct with init values
haveMpu6k = true; haveMpu6k = true;
} else if (l3g4200dDetect(&gyro)) { } else if (l3g4200dDetect(&gyro)) {
@ -60,7 +60,7 @@ retry:
; // fallthrough ; // fallthrough
case 2: // MPU6050 case 2: // MPU6050
if (haveMpu6k) { if (haveMpu6k) {
mpu6050Detect(&acc, &gyro, cfg.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct mpu6050Detect(&acc, &gyro, &cfg.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050; accHardware = ACC_MPU6050;
if (cfg.acc_hardware == ACC_MPU6050) if (cfg.acc_hardware == ACC_MPU6050)
break; break;