From fd9d077d8bb37679e63f8b82c6487d506e0bd5f9 Mon Sep 17 00:00:00 2001 From: timecop Date: Wed, 22 Aug 2012 23:59:34 +0000 Subject: [PATCH] I2C bypass mode permanently enabled on MPU6050. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@201 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- obj/baseflight.hex | 2751 ++++++++++++++++++++++---------------------- src/drv_mpu6050.c | 1 + 2 files changed, 1377 insertions(+), 1375 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index c3fb911a0..591472404 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,43 +1,43 @@ :020000040800F2 -:10000000E01C0020AD780008ED780008D31500084A -:10001000F1780008F3780008F57800080000000087 -:10002000000000000000000000000000F778000859 -:10003000F978000800000000FB780008555C000813 -:10004000FF780008FF780008FF780008FF780008B4 -:10005000FF780008FF780008FF780008BB640008FC -:10006000FF780008FF780008FF780008FF78000894 -:10007000FF780008FF7800086F5E0008FF7800082E 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+:10A5C000103B2C01301129211A1B05691019612A31 +:10A5D0000C104A083039602A1E454910396099101C +:10A5E0002940AA081019611A0C1013199E1B080D96 +:10A5F000041A34041A28040138B93984A24A0438E8 +:10A600000C01020304060708090204062329106945 +:04A6100014410000F1 :04000005080000ED02 :00000001FF diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c index 8b0e486c1..2d0fd68f5 100644 --- a/src/drv_mpu6050.c +++ b/src/drv_mpu6050.c @@ -215,6 +215,7 @@ static void mpu6050GyroInit(void) delay(5); 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) + i2cWrite(MPU6050_ADDRESS, 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 i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, MPU6050_DLPF_CFG); //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, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec