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Merge pull request #839 from SteveAmor/MPU6050_PLL_Settling_Time 

Added MPU6050 PLL Settling Time delay
This commit is contained in:
Dominic Clifton 2015-05-14 19:12:50 +01:00
parent b739a57ea2 a0bb0135c3
commit 004f44108e
1 changed files with 1 additions and 0 deletions
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src/main/drivers/accgyro_mpu6050.c
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@ -423,6 +423,7 @@ static void mpu6050GyroInit(void)
delay(100);
i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
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)
delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, mpuLowPassFilter); //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, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec