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I2C bypass mode permanently enabled on MPU6050. 

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@201 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-22 23:59:34 +00:00
parent 10570a6579
commit fd9d077d8b
2 changed files with 1377 additions and 1375 deletions
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2751
obj/baseflight.hex
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1
src/drv_mpu6050.c
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@ -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