Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 16:55:36 +03:00
Code Issues Wiki Activity

MPU6500 INT_STATUS support // MPU3500 dummy handling

Browse source
This commit is contained in:
borisbstyle 2015-08-07 00:04:19 +02:00
parent 26deeb8ff6
commit de5f6aa68f
3 changed files with 19 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

7
src/main/drivers/accgyro_mpu3050.c
View file

@ -28,6 +28,7 @@
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_mpu3050.h"
#include "gyro_sync.h"
@ -60,6 +61,7 @@ static uint8_t mpuLowPassFilter = MPU3050_DLPF_42HZ;
static void mpu3050Init(void);
static void mpu3050Read(int16_t *gyroADC);
static void mpu3050ReadTemp(int16_t *tempData);
static void checkMPU3050Interrupt(bool *gyroIsUpdated);
bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
{
@ -74,6 +76,7 @@ bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
gyro->init = mpu3050Init;
gyro->read = mpu3050Read;
gyro->temperature = mpu3050ReadTemp;
gyro->intStatus = checkMPU3050Interrupt;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
@ -139,3 +142,7 @@ static void mpu3050ReadTemp(int16_t *tempData)
*tempData = 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
}
void checkMPU3050Interrupt(bool *gyroIsUpdated) {
// TODO - Without interrupt looptime watchdog will still make it work
}

11
src/main/drivers/accgyro_spi_mpu6500.c
View file

@ -31,6 +31,7 @@
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_spi_mpu6500.h"
#include "gyro_sync.h"
enum lpf_e {
INV_FILTER_256HZ_NOLPF2 = 0,
@ -75,6 +76,7 @@ static void mpu6500AccInit(void);
static void mpu6500AccRead(int16_t *accData);
static void mpu6500GyroInit(void);
static void mpu6500GyroRead(int16_t *gyroADC);
static void checkMPU6500Interrupt(bool *gyroIsUpdated);
extern uint16_t acc_1G;
@ -167,6 +169,7 @@ bool mpu6500SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
gyro->init = mpu6500GyroInit;
gyro->read = mpu6500GyroRead;
gyro->intStatus = checkMPU6500Interrupt;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
@ -239,3 +242,11 @@ static void mpu6500GyroRead(int16_t *gyroADC)
gyroADC[Y] = (int16_t)((buf[2] << 8) | buf[3]);
gyroADC[Z] = (int16_t)((buf[4] << 8) | buf[5]);
}
void checkMPU6500Interrupt(bool *gyroIsUpdated) {
uint8_t mpuIntStatus;
mpu6500ReadRegister(MPU6500_INT_STATUS, &mpuIntStatus, 1);
(mpuIntStatus) ? (*gyroIsUpdated= true) : (*gyroIsUpdated= false);
}

1
src/main/drivers/accgyro_spi_mpu6500.h
View file

@ -25,6 +25,7 @@
#define MPU6500_RA_ACCEL_CFG (0x1C)
#define MPU6500_RA_LPF (0x1A)
#define MPU6500_RA_RATE_DIV (0x19)
#define MPU6500_INT_STATUS (0x38)
#define MPU6500_WHO_AM_I_CONST (0x70)