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fixed bug in mpu6050 accel code

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added mpu6050 acc scale factor fixup for es/non es chips (exposed as cli option as well)


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@191 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-07 08:00:16 +00:00
parent ecda218e8f
commit e894dba995
7 changed files with 1702 additions and 1693 deletions
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29
src/drv_mpu6050.c
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@ -143,7 +143,7 @@ int16_t dmpGyroData[3];
extern uint16_t acc_1G;
uint8_t mpuProductID = 0;
bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale)
{
bool ack;
uint8_t sig;
@ -157,8 +157,11 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
if (sig != MPU6050_ADDRESS)
return false;
// get chip revision
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &mpuProductID);
// get chip revision + fake it if needed
if (scale)
mpuProductID = MPU6000_REV_C5; // no, seriously? why don't you make the chip ID list public.
else
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &mpuProductID);
acc->init = mpu6050AccInit;
acc->read = mpu6050AccRead;
@ -176,16 +179,6 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
static void mpu6050AccInit(void)
{
#ifndef MPU6050_DMP
// Product ID detection code from eosBandi (or rather, DIYClones). This doesn't cover product ID for MPU6050 as far as I can tell
if ((mpuProductID == MPU6000ES_REV_C4) || (mpuProductID == MPU6000ES_REV_C5) || (mpuProductID == MPU6000_REV_C4) || (mpuProductID == MPU6000_REV_C5)) {
// Accel scale 8g (4096 LSB/g)
// Rev C has different scaling than rev D
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 1 << 3);
} else {
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 2 << 3);
}
#endif
acc_1G = 1023;
}
@ -224,6 +217,16 @@ static void mpu6050GyroInit(void)
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, 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, MPU_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
// ACC Init stuff. Moved into gyro init because the reset above would screw up accel config. Oops.
// Product ID detection code from eosBandi (or rather, DIYClones). This doesn't cover product ID for MPU6050 as far as I can tell
if ((mpuProductID == MPU6000ES_REV_C4) || (mpuProductID == MPU6000ES_REV_C5) || (mpuProductID == MPU6000_REV_C4) || (mpuProductID == MPU6000_REV_C5)) {
// Accel scale 8g (4096 LSB/g)
// Rev C has different scaling than rev D
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 1 << 3);
} else {
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 2 << 3);
}
#endif
}