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rewrote mpu6050 revision sensing code to match that of eMPL from Invensense.

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Also changed scalefactor for acc to 256/512 to match multiwii code. untested/etc, proceed with caution.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@276 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-02-21 08:59:27 +00:00
parent e0af7acf4f
commit fc185b8e15
2 changed files with 4199 additions and 3173 deletions
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obj/baseflight.hex
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48
src/drv_mpu6050.c
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@ -143,12 +143,13 @@ int16_t dmpGyroData[3];
#endif #endif
extern uint16_t acc_1G; extern uint16_t acc_1G;
uint8_t mpuProductID = 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; uint8_t sig, rev;
uint8_t tmp[6];
delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
@ -163,11 +164,29 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale)
if (sig != (MPU6050_ADDRESS & 0x7e)) if (sig != (MPU6050_ADDRESS & 0x7e))
return false; return false;
// get chip revision + fake it if needed // determine product ID and accel revision
if (scale) i2cRead(MPU6050_ADDRESS, MPU_RA_XA_OFFS_H, 6, tmp);
mpuProductID = MPU6000_REV_C5; // no, seriously? why don't you make the chip ID list public. rev = ((tmp[5] & 0x01) << 2) | ((tmp[3] & 0x01) << 1) | (tmp[1] & 0x01);
else if (rev) {
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &mpuProductID); /* Congrats, these parts are better. */
if (rev == 1) {
mpuAccelHalf = 1;
} else if (rev == 2) {
mpuAccelHalf = 0;
} else {
failureMode(5);
}
} else {
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &sig);
rev = sig & 0x0F;
if (!rev) {
failureMode(5);
} else if (rev == 4) {
mpuAccelHalf = 1;
} else {
mpuAccelHalf = 0;
}
}
acc->init = mpu6050AccInit; acc->init = mpu6050AccInit;
acc->read = mpu6050AccRead; acc->read = mpu6050AccRead;
@ -185,7 +204,10 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale)
static void mpu6050AccInit(void) static void mpu6050AccInit(void)
{ {
acc_1G = 1023; if (mpuAccelHalf)
acc_1G = 255;
else
acc_1G = 512;
} }
static void mpu6050AccRead(int16_t *accData) static void mpu6050AccRead(int16_t *accData)
@ -234,14 +256,8 @@ static void mpu6050GyroInit(void)
i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec 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. // 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 // Accel scale 8g (4096 LSB/g)
if ((mpuProductID == MPU6000ES_REV_C4) || (mpuProductID == MPU6000ES_REV_C5) || (mpuProductID == MPU6000_REV_C4) || (mpuProductID == MPU6000_REV_C5)) { i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 2 << 3);
// 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 #endif
} }