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Merge pull request #241 from borisbstyle/acc_scale_increased 

Accelerometer Range Increased to 16G
This commit is contained in:
borisbstyle 2016-03-03 13:26:00 +01:00
parent 9df909bae2 88a70f53d1
commit a31bf0f43f
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) {
case MPU_HALF_RESOLUTION:
acc_1G = 256 * 8;
acc_1G = 256 * 4;
break;
case MPU_FULL_RESOLUTION:
acc_1G = 512 * 8;
acc_1G = 512 * 4;
break;
}
}
@ -112,7 +112,7 @@ static void mpu6050GyroInit(uint8_t lpf)
// ACC Init stuff.
// 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,
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();
acc_1G = 512 * 8;
acc_1G = 512 * 4;
}
void mpu6500GyroInit(uint8_t lpf)
@ -101,7 +101,7 @@ void mpu6500GyroInit(uint8_t lpf)
delay(15);
mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delay(15);
mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);
mpuConfiguration.write(MPU_RA_CONFIG, lpf);
delay(15);

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

@ -144,7 +144,7 @@ void mpu6000SpiAccInit(void)
{
mpuIntExtiInit();
acc_1G = 512 * 8;
acc_1G = 512 * 4;
}
bool mpu6000SpiDetect(void)
@ -229,7 +229,7 @@ static void mpu6000AccAndGyroInit(void) {
delayMicroseconds(15);
// 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);