Relocate and use some of the common MPU code from MPU6500 into
accgyro_mpu.c.
This commit is contained in:
parent
da46d9f1d2
commit
0361d161fb
1
Makefile
1
Makefile
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@ -520,6 +520,7 @@ CHEBUZZF3_SRC = \
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COLIBRI_RACE_SRC = \
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$(STM32F30x_COMMON_SRC) \
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drivers/display_ug2864hsweg01.c \
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drivers/accgyro_mpu.c \
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drivers/accgyro_spi_mpu6500.c \
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drivers/barometer_ms5611.c \
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drivers/compass_ak8975.c \
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@ -37,25 +37,29 @@
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#include "accgyro.h"
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#include "accgyro_mpu3050.h"
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#include "accgyro_mpu6050.h"
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#include "accgyro_spi_mpu6500.h"
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#include "accgyro_mpu.h"
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//#define DEBUG_MPU_DATA_READY_INTERRUPT
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static bool mpuReadRegisterI2C(uint8_t reg, uint8_t length, uint8_t* data);
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static bool mpuWriteRegisterI2C(uint8_t reg, uint8_t data);
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uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
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static void mpu6050FindRevision(void);
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void mpu6050FindRevision(void);
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#ifdef USE_SPI
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static bool detectSPISensorsAndUpdateDetectionResult(void);
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#endif
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mpuDetectionResult_t mpuDetectionResult;
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typedef struct mpuConfiguration_s {
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uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
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} mpuConfiguration_t;
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static mpuConfiguration_t mpuConfiguration;
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mpuConfiguration_t mpuConfiguration;
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static const extiConfig_t *mpuIntExtiConfig = NULL;
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// FIXME move into mpuConfiguration
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uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
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#define MPU_ADDRESS 0x68
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@ -87,14 +91,23 @@ mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse)
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// MPU datasheet specifies 30ms.
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delay(35);
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ack = i2cRead(MPU_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig);
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if (!ack)
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ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I, 1, &sig);
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if (ack) {
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mpuConfiguration.read = mpuReadRegisterI2C;
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mpuConfiguration.write = mpuWriteRegisterI2C;
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} else {
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#ifdef USE_SPI
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bool detectedSpiSensor = detectSPISensorsAndUpdateDetectionResult();
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UNUSED(detectedSpiSensor);
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#endif
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return &mpuDetectionResult;
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}
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mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
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// If an MPU3050 is connected sig will contain 0.
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ack = i2cRead(MPU_ADDRESS, MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
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ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
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inquiryResult &= MPU_INQUIRY_MASK;
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if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
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mpuDetectionResult.sensor = MPU_3050;
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@ -114,8 +127,26 @@ mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse)
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return &mpuDetectionResult;
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}
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#ifdef USE_SPI
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static bool detectSPISensorsAndUpdateDetectionResult(void)
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{
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bool found = false;
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void mpu6050FindRevision(void)
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#ifdef USE_GYRO_SPI_MPU6500
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found = mpu6500Detect();
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if (found) {
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mpuDetectionResult.sensor = MPU_65xx_SPI;
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mpuConfiguration.gyroReadXRegister = MPU6500_RA_GYRO_XOUT_H;
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mpuConfiguration.read = mpu6500ReadRegister;
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mpuConfiguration.write = mpu6500WriteRegister;
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}
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#endif
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return found;
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}
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#endif
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static void mpu6050FindRevision(void)
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{
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bool ack;
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UNUSED(ack);
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@ -276,34 +307,46 @@ void configureMPULPF(uint16_t lpf)
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mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
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}
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static bool mpuReadRegisterI2C(uint8_t reg, uint8_t length, uint8_t* data)
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{
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bool ack = i2cRead(MPU_ADDRESS, reg, length, data);
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return ack;
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}
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static bool mpuWriteRegisterI2C(uint8_t reg, uint8_t data)
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{
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bool ack = i2cWrite(MPU_ADDRESS, reg, data);
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return ack;
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}
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bool mpuAccRead(int16_t *accData)
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{
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uint8_t buf[6];
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uint8_t data[6];
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bool ack = i2cRead(MPU_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
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bool ack = mpuConfiguration.read(MPU_RA_ACCEL_XOUT_H, 6, data);
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if (!ack) {
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return false;
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}
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accData[0] = (int16_t)((buf[0] << 8) | buf[1]);
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accData[1] = (int16_t)((buf[2] << 8) | buf[3]);
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accData[2] = (int16_t)((buf[4] << 8) | buf[5]);
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accData[0] = (int16_t)((data[0] << 8) | data[1]);
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accData[1] = (int16_t)((data[2] << 8) | data[3]);
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accData[2] = (int16_t)((data[4] << 8) | data[5]);
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return true;
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}
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bool mpuGyroRead(int16_t *gyroADC)
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{
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uint8_t buf[6];
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uint8_t data[6];
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bool ack = i2cRead(MPU_ADDRESS, mpuConfiguration.gyroReadXRegister, 6, buf);
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bool ack = mpuConfiguration.read(mpuConfiguration.gyroReadXRegister, 6, data);
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if (!ack) {
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return false;
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}
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gyroADC[0] = (int16_t)((buf[0] << 8) | buf[1]);
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gyroADC[1] = (int16_t)((buf[2] << 8) | buf[3]);
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gyroADC[2] = (int16_t)((buf[4] << 8) | buf[5]);
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gyroADC[0] = (int16_t)((data[0] << 8) | data[1]);
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gyroADC[1] = (int16_t)((data[2] << 8) | data[3]);
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gyroADC[2] = (int16_t)((data[4] << 8) | data[5]);
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return true;
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}
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@ -17,6 +17,16 @@
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#pragma once
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typedef bool (*mpuReadRegisterFunc)(uint8_t reg, uint8_t length, uint8_t* data);
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typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
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typedef struct mpuConfiguration_s {
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uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
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mpuReadRegisterFunc read;
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mpuWriteRegisterFunc write;
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} mpuConfiguration_t;
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extern mpuConfiguration_t mpuConfiguration;
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enum lpf_e {
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INV_FILTER_256HZ_NOLPF2 = 0,
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@ -75,20 +75,20 @@ void mpu3050Init(void)
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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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ack = mpuConfiguration.write(MPU3050_SMPLRT_DIV, 0);
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if (!ack)
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failureMode(FAILURE_ACC_INIT);
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i2cWrite(MPU3050_ADDRESS, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | mpuLowPassFilter);
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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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mpuConfiguration.write(MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | mpuLowPassFilter);
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mpuConfiguration.write(MPU3050_INT_CFG, 0);
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mpuConfiguration.write(MPU3050_USER_CTRL, MPU3050_USER_RESET);
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mpuConfiguration.write(MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
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}
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static bool mpu3050ReadTemp(int16_t *tempData)
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{
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uint8_t buf[2];
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if (!i2cRead(MPU3050_ADDRESS, MPU3050_TEMP_OUT, 2, buf)) {
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if (!mpuConfiguration.read(MPU3050_TEMP_OUT, 2, buf)) {
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return false;
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}
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@ -196,23 +196,23 @@ static void mpu6050GyroInit(void)
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mpuIntExtiInit();
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bool ack;
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ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
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ack = mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
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delay(100);
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ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
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ack = 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)
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ack = mpuConfiguration.write(MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
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ack = mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
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delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
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ack = 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)
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ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
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ack = mpuConfiguration.write(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)
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ack = mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
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// ACC Init stuff. Moved into gyro init because the reset above would screw up accel config. Oops.
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// Accel scale 8g (4096 LSB/g)
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ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
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ack = mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
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ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG,
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ack = mpuConfiguration.write(MPU_RA_INT_PIN_CFG,
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0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
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#ifdef USE_MPU_DATA_READY_SIGNAL
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ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
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ack = mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
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#endif
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UNUSED(ack);
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}
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@ -25,73 +25,45 @@
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#include "common/maths.h"
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#include "system.h"
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#include "exti.h"
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#include "gpio.h"
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#include "bus_spi.h"
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#include "sensor.h"
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#include "accgyro.h"
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#include "accgyro_mpu.h"
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#include "accgyro_spi_mpu6500.h"
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enum lpf_e {
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INV_FILTER_256HZ_NOLPF2 = 0,
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INV_FILTER_188HZ,
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INV_FILTER_98HZ,
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INV_FILTER_42HZ,
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INV_FILTER_20HZ,
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INV_FILTER_10HZ,
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INV_FILTER_5HZ,
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INV_FILTER_2100HZ_NOLPF,
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NUM_FILTER
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};
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enum gyro_fsr_e {
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INV_FSR_250DPS = 0,
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INV_FSR_500DPS,
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INV_FSR_1000DPS,
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INV_FSR_2000DPS,
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NUM_GYRO_FSR
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};
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enum clock_sel_e {
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INV_CLK_INTERNAL = 0,
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INV_CLK_PLL,
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NUM_CLK
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};
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enum accel_fsr_e {
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INV_FSR_2G = 0,
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INV_FSR_4G,
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INV_FSR_8G,
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INV_FSR_16G,
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NUM_ACCEL_FSR
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};
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#define DISABLE_MPU6500 GPIO_SetBits(MPU6500_CS_GPIO, MPU6500_CS_PIN)
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#define ENABLE_MPU6500 GPIO_ResetBits(MPU6500_CS_GPIO, MPU6500_CS_PIN)
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static uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
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extern mpuDetectionResult_t mpuDetectionResult;
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extern uint8_t mpuLowPassFilter;
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static void mpu6500AccInit(void);
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static bool mpu6500AccRead(int16_t *accData);
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static void mpu6500GyroInit(void);
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static bool mpu6500GyroRead(int16_t *gyroADC);
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extern uint16_t acc_1G;
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static void mpu6500WriteRegister(uint8_t reg, uint8_t data)
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bool mpu6500WriteRegister(uint8_t reg, uint8_t data)
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{
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ENABLE_MPU6500;
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spiTransferByte(MPU6500_SPI_INSTANCE, reg);
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spiTransferByte(MPU6500_SPI_INSTANCE, data);
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DISABLE_MPU6500;
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return true;
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}
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static void mpu6500ReadRegister(uint8_t reg, uint8_t *data, int length)
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bool mpu6500ReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
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{
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ENABLE_MPU6500;
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spiTransferByte(MPU6500_SPI_INSTANCE, reg | 0x80); // read transaction
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spiTransfer(MPU6500_SPI_INSTANCE, data, NULL, length);
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DISABLE_MPU6500;
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return true;
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}
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static void mpu6500SpiInit(void)
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hardwareInitialised = true;
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}
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static bool mpu6500Detect(void)
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bool mpu6500Detect(void)
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{
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uint8_t tmp;
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mpu6500SpiInit();
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mpu6500ReadRegister(MPU6500_RA_WHOAMI, &tmp, 1);
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mpu6500ReadRegister(MPU6500_RA_WHOAMI, 1, &tmp);
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if (tmp != MPU6500_WHO_AM_I_CONST)
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return false;
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@ -149,42 +121,29 @@ static bool mpu6500Detect(void)
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bool mpu6500SpiAccDetect(acc_t *acc)
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{
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if (!mpu6500Detect()) {
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if (mpuDetectionResult.sensor != MPU_65xx_SPI) {
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return false;
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}
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acc->init = mpu6500AccInit;
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acc->read = mpu6500AccRead;
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acc->read = mpuAccRead;
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return true;
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}
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bool mpu6500SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
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{
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if (!mpu6500Detect()) {
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if (mpuDetectionResult.sensor != MPU_65xx_SPI) {
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return false;
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}
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gyro->init = mpu6500GyroInit;
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gyro->read = mpu6500GyroRead;
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gyro->read = mpuGyroRead;
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// 16.4 dps/lsb scalefactor
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gyro->scale = 1.0f / 16.4f;
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//gyro->scale = (4.0f / 16.4f) * (M_PIf / 180.0f) * 0.000001f;
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// default lpf is 42Hz
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if (lpf >= 188)
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mpuLowPassFilter = INV_FILTER_188HZ;
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else if (lpf >= 98)
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mpuLowPassFilter = INV_FILTER_98HZ;
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else if (lpf >= 42)
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mpuLowPassFilter = INV_FILTER_42HZ;
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else if (lpf >= 20)
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mpuLowPassFilter = INV_FILTER_20HZ;
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else if (lpf >= 10)
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mpuLowPassFilter = INV_FILTER_10HZ;
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else
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mpuLowPassFilter = INV_FILTER_5HZ;
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configureMPULPF(lpf);
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return true;
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}
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@ -194,19 +153,6 @@ static void mpu6500AccInit(void)
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acc_1G = 512 * 8;
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}
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static bool mpu6500AccRead(int16_t *accData)
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{
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uint8_t buf[6];
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mpu6500ReadRegister(MPU6500_RA_ACCEL_XOUT_H, buf, 6);
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accData[X] = (int16_t)((buf[0] << 8) | buf[1]);
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accData[Y] = (int16_t)((buf[2] << 8) | buf[3]);
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accData[Z] = (int16_t)((buf[4] << 8) | buf[5]);
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return true;
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}
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static void mpu6500GyroInit(void)
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{
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||||
#ifdef NAZE
|
||||
|
@ -222,6 +168,8 @@ static void mpu6500GyroInit(void)
|
|||
|
||||
mpu6500WriteRegister(MPU6500_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
|
||||
delay(100);
|
||||
mpu6500WriteRegister(MPU6500_RA_SIGNAL_PATH_RST, 0x07);
|
||||
delay(100);
|
||||
mpu6500WriteRegister(MPU6500_RA_PWR_MGMT_1, 0);
|
||||
delay(100);
|
||||
mpu6500WriteRegister(MPU6500_RA_PWR_MGMT_1, INV_CLK_PLL);
|
||||
|
@ -230,16 +178,3 @@ static void mpu6500GyroInit(void)
|
|||
mpu6500WriteRegister(MPU6500_RA_LPF, mpuLowPassFilter);
|
||||
mpu6500WriteRegister(MPU6500_RA_RATE_DIV, 0); // 1kHz S/R
|
||||
}
|
||||
|
||||
static bool mpu6500GyroRead(int16_t *gyroADC)
|
||||
{
|
||||
uint8_t buf[6];
|
||||
|
||||
mpu6500ReadRegister(MPU6500_RA_GYRO_XOUT_H, buf, 6);
|
||||
|
||||
gyroADC[X] = (int16_t)((buf[0] << 8) | buf[1]);
|
||||
gyroADC[Y] = (int16_t)((buf[2] << 8) | buf[3]);
|
||||
gyroADC[Z] = (int16_t)((buf[4] << 8) | buf[5]);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
@ -15,16 +15,17 @@
|
|||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#define MPU6500_RA_WHOAMI (0x75)
|
||||
#define MPU6500_RA_RATE_DIV (0x19)
|
||||
#define MPU6500_RA_LPF (0x1A)
|
||||
#define MPU6500_RA_GYRO_CFG (0x1B)
|
||||
#define MPU6500_RA_ACCEL_CFG (0x1C)
|
||||
#define MPU6500_RA_ACCEL_XOUT_H (0x3B)
|
||||
#define MPU6500_RA_GYRO_XOUT_H (0x43)
|
||||
#define MPU6500_RA_SIGNAL_PATH_RST (0x68)
|
||||
#define MPU6500_RA_PWR_MGMT_1 (0x6B)
|
||||
#define MPU6500_RA_BANK_SEL (0x6D)
|
||||
#define MPU6500_RA_MEM_RW (0x6F)
|
||||
#define MPU6500_RA_GYRO_CFG (0x1B)
|
||||
#define MPU6500_RA_PWR_MGMT_1 (0x6B)
|
||||
#define MPU6500_RA_ACCEL_CFG (0x1C)
|
||||
#define MPU6500_RA_LPF (0x1A)
|
||||
#define MPU6500_RA_RATE_DIV (0x19)
|
||||
#define MPU6500_RA_WHOAMI (0x75)
|
||||
|
||||
#define MPU6500_WHO_AM_I_CONST (0x70)
|
||||
|
||||
|
@ -32,5 +33,10 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
bool mpu6500Detect(void);
|
||||
|
||||
bool mpu6500SpiAccDetect(acc_t *acc);
|
||||
bool mpu6500SpiGyroDetect(gyro_t *gyro, uint16_t lpf);
|
||||
|
||||
bool mpu6500WriteRegister(uint8_t reg, uint8_t data);
|
||||
bool mpu6500ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
|
||||
|
|
|
@ -599,7 +599,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
|
|||
memset(&acc, 0, sizeof(acc));
|
||||
memset(&gyro, 0, sizeof(gyro));
|
||||
|
||||
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_ACC_MPU6050)
|
||||
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_ACC_MPU6050)
|
||||
|
||||
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
|
||||
|
||||
|
|
Loading…
Reference in New Issue