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Accelerometer Range Increased to 16G 

Change scale according to the int32_t / 16
This commit is contained in:
borisbstyle 2016-03-03 00:33:51 +01:00
parent 9df909bae2
commit 88a70f53d1
3 changed files with 7 additions and 7 deletions
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6
src/main/drivers/accgyro_mpu6050.c
View File

@ -88,10 +88,10 @@ static void mpu6050AccInit(void)
switch (mpuDetectionResult.resolution) { switch (mpuDetectionResult.resolution) {
case MPU_HALF_RESOLUTION: case MPU_HALF_RESOLUTION:
acc_1G = 256 * 8; acc_1G = 256 * 4;
break; break;
case MPU_FULL_RESOLUTION: case MPU_FULL_RESOLUTION:
acc_1G = 512 * 8; acc_1G = 512 * 4;
break; break;
} }
} }
@ -112,7 +112,7 @@ static void mpu6050GyroInit(uint8_t lpf)
// ACC Init stuff. // ACC Init stuff.
// Accel scale 8g (4096 LSB/g) // Accel scale 8g (4096 LSB/g)
ack = mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3); ack = mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
ack = mpuConfiguration.write(MPU_RA_INT_PIN_CFG, ack = mpuConfiguration.write(MPU_RA_INT_PIN_CFG,
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 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

4
src/main/drivers/accgyro_mpu6500.c
View File

@ -69,7 +69,7 @@ void mpu6500AccInit(void)
{ {
mpuIntExtiInit(); mpuIntExtiInit();
acc_1G = 512 * 8; acc_1G = 512 * 4;
} }
void mpu6500GyroInit(uint8_t lpf) void mpu6500GyroInit(uint8_t lpf)
@ -101,7 +101,7 @@ void mpu6500GyroInit(uint8_t lpf)
delay(15); delay(15);
mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delay(15); delay(15);
mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3); mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15); delay(15);
mpuConfiguration.write(MPU_RA_CONFIG, lpf); mpuConfiguration.write(MPU_RA_CONFIG, lpf);
delay(15); delay(15);

4
src/main/drivers/accgyro_spi_mpu6000.c
View File

@ -144,7 +144,7 @@ void mpu6000SpiAccInit(void)
{ {
mpuIntExtiInit(); mpuIntExtiInit();
acc_1G = 512 * 8; acc_1G = 512 * 4;
} }
bool mpu6000SpiDetect(void) bool mpu6000SpiDetect(void)
@ -229,7 +229,7 @@ static void mpu6000AccAndGyroInit(void) {
delayMicroseconds(15); delayMicroseconds(15);
// Accel +/- 8 G Full Scale // Accel +/- 8 G Full Scale
mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3); mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delayMicroseconds(15); delayMicroseconds(15);