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Code Issues Releases Activity

Correctly configure MPU6050 interrupt. However currently not pushing data to

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the buffer as that seems to fail.
This commit is contained in:
James Cotton 2011-11-14 11:11:40 -06:00
parent 2cc2e55248
commit 1086df5b21
3 changed files with 17 additions and 5 deletions
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10
flight/PiOS/STM32F4xx/pios_mpu6050.c
View File

@ -82,6 +82,8 @@ void PIOS_MPU6050_Init(const struct pios_mpu6050_cfg * new_cfg)
* \param[in] PIOS_MPU6050_ConfigTypeDef struct to be used to configure sensor.
*
*/
uint8_t reg_val;
static void PIOS_MPU6050_Config(struct pios_mpu6050_cfg const * cfg)
{
mpu6050_first_read = true;
@ -110,8 +112,13 @@ static void PIOS_MPU6050_Config(struct pios_mpu6050_cfg const * cfg)
while (PIOS_MPU6050_Write(PIOS_MPU6050_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
// Interrupt configuration
while (PIOS_MPU6050_Write(PIOS_MPU6050_INT_CFG_REG, cfg->Interrupt_cfg) != 0) ;
while (PIOS_MPU6050_Write(PIOS_MPU6050_INT_CFG_REG, cfg->interrupt_cfg) != 0) ;
// Interrupt configuration
while (PIOS_MPU6050_Write(PIOS_MPU6050_INT_EN_REG, cfg->interrupt_en) != 0) ;
PIOS_MPU6050_Read(PIOS_MPU6050_INT_CFG_REG, &reg_val, 1);
mpu6050_configured = true;
}
@ -337,6 +344,7 @@ void PIOS_MPU6050_IRQHandler(void)
if(!mpu6050_configured)
return;
return;
//PIOS_Assert(MPU6050_cb_ready);
if(!mpu6050_cb_ready) {
PIOS_LED_Toggle(LED2);

9
flight/PiOS/inc/pios_mpu6050.h
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@ -43,6 +43,7 @@
#define PIOS_MPU6050_ACCEL_CFG_REG 0X1C
#define PIOS_MPU6050_FIFO_EN_REG 0x23
#define PIOS_MPU6050_INT_CFG_REG 0x37
#define PIOS_MPU6050_INT_EN_REG 0x38
#define PIOS_MPU6050_INT_STATUS_REG 0x3A
#define PIOS_MPU6050_ACCEL_X_OUT_MSB 0x3B
#define PIOS_MPU6050_ACCEL_X_OUT_LSB 0x3C
@ -77,8 +78,9 @@
#define PIOS_MPU6050_INT_OPEN 0x40
#define PIOS_MPU6050_INT_LATCH_EN 0x20
#define PIOS_MPU6050_INT_CLR_ANYRD 0x10
#define PIOS_MPU6050_INT_IMU_RDY 0x04
#define PIOS_MPU6050_INT_DATA_RDY 0x01
#define PIOS_MPU6050_INTEN_OVERFLOW 0x10
#define PIOS_MPU6050_INTEN_DATA_RDY 0x01
/* Interrupt status */
#define PIOS_MPU6050_INT_STATUS_FIFO_FULL 0x80
@ -129,7 +131,8 @@ struct pios_mpu6050_cfg {
uint8_t Fifo_store; /* FIFO storage of different readings (See datasheet page 31 for more details) */
uint8_t Smpl_rate_div; /* Sample rate divider to use (See datasheet page 32 for more details) */
uint8_t Interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */
uint8_t interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */
uint8_t interrupt_en; /* Interrupt configuration (See datasheet page 35 for more details) */
uint8_t User_ctl; /* User control settings (See datasheet page 41 for more details) */
uint8_t Pwr_mgmt_clk; /* Power management and clock selection (See datasheet page 32 for more details) */
enum pios_mpu6050_range gyro_range;

3
flight/Revolution/System/pios_board.c
View File

@ -726,7 +726,8 @@ static const struct pios_mpu6050_cfg pios_mpu6050_cfg = {
.Fifo_store = PIOS_MPU6050_FIFO_TEMP_OUT | PIOS_MPU6050_FIFO_GYRO_X_OUT | PIOS_MPU6050_FIFO_GYRO_Y_OUT | PIOS_MPU6050_FIFO_GYRO_Z_OUT,
// Clock at 8 khz, downsampled by 8 for 1khz
.Smpl_rate_div = 7,
.Interrupt_cfg = PIOS_MPU6050_INT_DATA_RDY | PIOS_MPU6050_INT_CLR_ANYRD,
.interrupt_cfg = PIOS_MPU6050_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6050_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6050_USERCTL_FIFO_EN,
.Pwr_mgmt_clk = PIOS_MPU6050_PWRMGMT_PLL_X_CLK,
.gyro_range = PIOS_MPU6050_SCALE_500_DEG,