mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
57b289466d
switched nop to __NOP from cm3 headers got rid of __GNUC__ DMB stuff as well, since its all properly defined in cm3 headers added mpu lowpass filter config and defaulted to 42hz. seems to fly smoother. features are in eeprom, removed default setting from main.c git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@98 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
60 lines
1.8 KiB
C
Executable file
60 lines
1.8 KiB
C
Executable file
#include "board.h"
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// MPU3050, Standard address 0x68
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#define MPU3050_ADDRESS 0x68
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// Registers
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#define MPU3050_SMPLRT_DIV 0x15
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#define MPU3050_DLPF_FS_SYNC 0x16
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#define MPU3050_INT_CFG 0x17
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#define MPU3050_TEMP_OUT 0x1B
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#define MPU3050_GYRO_OUT 0x1D
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#define MPU3050_USER_CTRL 0x3D
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#define MPU3050_PWR_MGM 0x3E
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// Bits
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#define MPU3050_FS_SEL_2000DPS 0x18
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#define MPU3050_DLPF_20HZ 0x04
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#define MPU3050_DLPF_42HZ 0x03
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#define MPU3050_DLPF_98HZ 0x02
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#define MPU3050_DLPF_188HZ 0x01
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#define MPU3050_DLPF_256HZ 0x00
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#define MPU3050_USER_RESET 0x01
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#define MPU3050_CLK_SEL_PLL_GX 0x01
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static uint8_t mpuLowPassFliter = MPU3050_DLPF_42HZ;
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void mpu3050Init(void)
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{
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bool ack;
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delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
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ack = i2cWrite(MPU3050_ADDRESS, MPU3050_SMPLRT_DIV, 0);
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if (!ack)
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failureMode(3);
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i2cWrite(MPU3050_ADDRESS, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | mpuLowPassFliter);
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i2cWrite(MPU3050_ADDRESS, MPU3050_INT_CFG, 0);
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i2cWrite(MPU3050_ADDRESS, MPU3050_USER_CTRL, MPU3050_USER_RESET);
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i2cWrite(MPU3050_ADDRESS, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
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}
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// Read 3 gyro values into user-provided buffer. No overrun checking is done.
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void mpu3050Read(int16_t *gyroData)
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{
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uint8_t buf[6];
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i2cRead(MPU3050_ADDRESS, MPU3050_GYRO_OUT, 6, buf);
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gyroData[0] = buf[0] << 8 | buf[1];
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gyroData[1] = buf[2] << 8 | buf[3];
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gyroData[2] = buf[4] << 8 | buf[5];
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}
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int16_t mpu3050ReadTemp(void)
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{
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uint8_t buf[2];
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i2cRead(MPU3050_ADDRESS, MPU3050_TEMP_OUT, 2, buf);
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return 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
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}
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