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Code Issues Releases Activity

OP-1535 - Refactor MPU6k driver to allow direct and fifo access based on configuration

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This commit is contained in:
Alessio Morale 2014-10-10 01:21:40 +02:00
parent 28274cdb6b
commit 4a8cfe3f86
5 changed files with 178 additions and 128 deletions
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270
flight/pios/common/pios_mpu6000.c
View File

@ -33,15 +33,13 @@
#ifdef PIOS_INCLUDE_MPU6000
#include "fifo_buffer.h"
#include <pios_constants.h>
/* Global Variables */
enum pios_mpu6000_dev_magic {
PIOS_MPU6000_DEV_MAGIC = 0x9da9b3ed,
};
#define PIOS_MPU6000_MAX_DOWNSAMPLE 5
struct mpu6000_dev {
uint32_t spi_id;
uint32_t slave_num;
@ -53,30 +51,58 @@ struct mpu6000_dev {
enum pios_mpu6000_dev_magic magic;
};
#ifdef PIOS_MPU6000_ACCEL
#define PIOS_MPU6000_SAMPLES_BYTES 14
#define PIOS_MPU6000_SENSOR_FIRST_REG PIOS_MPU6000_ACCEL_X_OUT_MSB
#else
#define PIOS_MPU6000_SENSOR_FIRST_REG PIOS_MPU6000_TEMP_OUT_MSB
#define PIOS_MPU6000_SAMPLES_BYTES 8
#endif
typedef union {
uint8_t buffer[1 + PIOS_MPU6000_SAMPLES_BYTES];
struct {
uint8_t dummy;
#ifdef PIOS_MPU6000_ACCEL
uint8_t Accel_X_h;
uint8_t Accel_X_l;
uint8_t Accel_Y_h;
uint8_t Accel_Y_l;
uint8_t Accel_Z_h;
uint8_t Accel_Z_l;
#endif
uint8_t Temperature_h;
uint8_t Temperature_l;
uint8_t Gyro_X_h;
uint8_t Gyro_X_l;
uint8_t Gyro_Y_h;
uint8_t Gyro_Y_l;
uint8_t Gyro_Z_h;
uint8_t Gyro_Z_l;
} data;
} mpu6000_data_t;
#define GET_SENSOR_DATA(mpudataptr, sensor) (mpudataptr.data.sensor##_h << 8 | mpudataptr.data.sensor##_l)
// ! Global structure for this device device
static struct mpu6000_dev *dev;
volatile bool mpu6000_configured = false;
static mpu6000_data_t mpu6000_data;
// ! Private functions
static struct mpu6000_dev *PIOS_MPU6000_alloc(void);
static struct mpu6000_dev *PIOS_MPU6000_alloc(const struct pios_mpu6000_cfg *cfg);
static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev *dev);
static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const *cfg);
static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
static int32_t PIOS_MPU6000_GetReg(uint8_t address);
static void PIOS_MPU6000_SetSpeed(const bool fast);
#define GRAV 9.81f
#ifdef PIOS_MPU6000_ACCEL
#define PIOS_MPU6000_SAMPLES_BYTES 14
#else
#define PIOS_MPU6000_SAMPLES_BYTES 8
#endif
static bool PIOS_MPU6000_HandleData();
static bool PIOS_MPU6000_ReadFifo(bool *woken);
static bool PIOS_MPU6000_ReadSensor(bool *woken);
/**
* @brief Allocate a new device
*/
static struct mpu6000_dev *PIOS_MPU6000_alloc(void)
static struct mpu6000_dev *PIOS_MPU6000_alloc(const struct pios_mpu6000_cfg *cfg)
{
struct mpu6000_dev *mpu6000_dev;
@ -87,7 +113,7 @@ static struct mpu6000_dev *PIOS_MPU6000_alloc(void)
mpu6000_dev->magic = PIOS_MPU6000_DEV_MAGIC;
mpu6000_dev->queue = xQueueCreate(PIOS_MPU6000_MAX_DOWNSAMPLE, sizeof(struct pios_mpu6000_data));
mpu6000_dev->queue = xQueueCreate(cfg->max_downsample + 1, sizeof(struct pios_mpu6000_data));
if (mpu6000_dev->queue == NULL) {
vPortFree(mpu6000_dev);
return NULL;
@ -120,7 +146,7 @@ static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev *vdev)
*/
int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg *cfg)
{
dev = PIOS_MPU6000_alloc();
dev = PIOS_MPU6000_alloc(cfg);
if (dev == NULL) {
return -1;
}
@ -465,16 +491,16 @@ float PIOS_MPU6000_GetAccelScale()
{
switch (dev->accel_range) {
case PIOS_MPU6000_ACCEL_2G:
return GRAV / 16384.0f;
return PIOS_CONST_MKS_GRAV_ACCEL_F / 16384.0f;
case PIOS_MPU6000_ACCEL_4G:
return GRAV / 8192.0f;
return PIOS_CONST_MKS_GRAV_ACCEL_F / 8192.0f;
case PIOS_MPU6000_ACCEL_8G:
return GRAV / 4096.0f;
return PIOS_CONST_MKS_GRAV_ACCEL_F / 4096.0f;
case PIOS_MPU6000_ACCEL_16G:
return GRAV / 2048.0f;
return PIOS_CONST_MKS_GRAV_ACCEL_F / 2048.0f;
}
return 0;
}
@ -596,6 +622,97 @@ bool PIOS_MPU6000_IRQHandler(void)
return false;
}
bool read_ok = false;
if (dev->cfg->User_ctl & PIOS_MPU6000_USERCTL_FIFO_EN) {
read_ok = PIOS_MPU6000_ReadFifo(&woken);
} else {
read_ok = PIOS_MPU6000_ReadSensor(&woken);
}
if (read_ok) {
bool woken2 = PIOS_MPU6000_HandleData();
woken |= woken2;
}
mpu6000_irq++;
mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
return woken;
}
static bool PIOS_MPU6000_HandleData()
{
// Rotate the sensor to OP convention. The datasheet defines X as towards the right
// and Y as forward. OP convention transposes this. Also the Z is defined negatively
// to our convention
static struct pios_mpu6000_data data;
// Currently we only support rotations on top so switch X/Y accordingly
switch (dev->cfg->orientation) {
case PIOS_MPU6000_TOP_0DEG:
#ifdef PIOS_MPU6000_ACCEL
data.accel_y = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X
data.accel_x = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y
#endif
data.gyro_y = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X
data.gyro_x = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y
break;
case PIOS_MPU6000_TOP_90DEG:
// -1 to bring it back to -32768 +32767 range
#ifdef PIOS_MPU6000_ACCEL
data.accel_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y
data.accel_x = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X
#endif
data.gyro_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y
data.gyro_x = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X
break;
case PIOS_MPU6000_TOP_180DEG:
#ifdef PIOS_MPU6000_ACCEL
data.accel_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X
data.accel_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y
#endif
data.gyro_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X
data.gyro_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y
break;
case PIOS_MPU6000_TOP_270DEG:
#ifdef PIOS_MPU6000_ACCEL
data.accel_y = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y
data.accel_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X
#endif
data.gyro_y = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y
data.gyro_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X
break;
}
#ifdef PIOS_MPU6000_ACCEL
data.accel_z = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Z));
#endif
data.gyro_z = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Z));
data.temperature = GET_SENSOR_DATA(mpu6000_data, Temperature);
BaseType_t higherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *)&data, &higherPriorityTaskWoken);
return higherPriorityTaskWoken == pdTRUE;
}
static bool PIOS_MPU6000_ReadSensor(bool *woken)
{
const uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_SENSOR_FIRST_REG | 0x80 };
if (PIOS_MPU6000_ClaimBusISR(woken, true) != 0) {
return false;
}
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) {
PIOS_MPU6000_ReleaseBusISR(woken);
mpu6000_fails++;
return false;
}
PIOS_MPU6000_ReleaseBusISR(woken);
return true;
}
static bool PIOS_MPU6000_ReadFifo(bool *woken)
{
/* Temporary fix for OP-1049. Expected to be superceded for next major release
* by code changes for OP-1039.
* Read interrupt status register to check for FIFO overflow. Must be the
@ -603,128 +720,57 @@ bool PIOS_MPU6000_IRQHandler(void)
* any read clears in the status register (PIOS_MPU6000_INT_CLR_ANYRD set in
* interrupt config register) */
int32_t result;
if ((result = PIOS_MPU6000_GetInterruptStatusRegISR(&woken)) < 0) {
return woken;
if ((result = PIOS_MPU6000_GetInterruptStatusRegISR(woken)) < 0) {
return false;
}
if (result & PIOS_MPU6000_INT_STATUS_FIFO_OVERFLOW) {
/* The FIFO has overflowed, so reset it,
* to enable sample sync to be recovered.
* If the reset fails, we are in trouble, but
* we keep trying on subsequent interrupts. */
PIOS_MPU6000_ResetFifoISR(&woken);
PIOS_MPU6000_ResetFifoISR(woken);
/* Return and wait for the next new sample. */
return woken;
return false;
}
/* Usual case - FIFO has not overflowed. */
mpu6000_count = PIOS_MPU6000_FifoDepthISR(&woken);
mpu6000_count = PIOS_MPU6000_FifoDepthISR(woken);
if (mpu6000_count < PIOS_MPU6000_SAMPLES_BYTES) {
return woken;
return false;
}
if (PIOS_MPU6000_ClaimBusISR(&woken, true) != 0) {
return woken;
if (PIOS_MPU6000_ClaimBusISR(woken, true) != 0) {
return false;
}
static uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_FIFO_REG | 0x80 };
static uint8_t mpu6000_rec_buf[1 + PIOS_MPU6000_SAMPLES_BYTES];
const uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_FIFO_REG | 0x80 };
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBusISR(&woken);
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) {
PIOS_MPU6000_ReleaseBusISR(woken);
mpu6000_fails++;
return woken;
return false;
}
PIOS_MPU6000_ReleaseBusISR(&woken);
static struct pios_mpu6000_data data;
PIOS_MPU6000_ReleaseBusISR(woken);
// In the case where extras samples backed up grabbed an extra
if (mpu6000_count >= PIOS_MPU6000_SAMPLES_BYTES * 2) {
mpu6000_fifo_backup++;
if (PIOS_MPU6000_ClaimBusISR(&woken, true) != 0) {
return woken;
if (PIOS_MPU6000_ClaimBusISR(woken, true) != 0) {
return false;
}
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBusISR(&woken);
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) {
PIOS_MPU6000_ReleaseBusISR(woken);
mpu6000_fails++;
return woken;
return false;
}
PIOS_MPU6000_ReleaseBusISR(&woken);
PIOS_MPU6000_ReleaseBusISR(woken);
}
// Rotate the sensor to OP convention. The datasheet defines X as towards the right
// and Y as forward. OP convention transposes this. Also the Z is defined negatively
// to our convention
#if defined(PIOS_MPU6000_ACCEL)
// Currently we only support rotations on top so switch X/Y accordingly
switch (dev->cfg->orientation) {
case PIOS_MPU6000_TOP_0DEG:
data.accel_y = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
data.accel_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
data.gyro_y = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X
data.gyro_x = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
break;
case PIOS_MPU6000_TOP_90DEG:
// -1 to bring it back to -32768 +32767 range
data.accel_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
data.accel_x = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
data.gyro_y = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
data.gyro_x = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X
break;
case PIOS_MPU6000_TOP_180DEG:
data.accel_y = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
data.accel_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
data.gyro_y = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
data.gyro_x = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
break;
case PIOS_MPU6000_TOP_270DEG:
data.accel_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
data.accel_x = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
data.gyro_y = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
data.gyro_x = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
break;
}
data.gyro_z = -1 - (mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14]);
data.accel_z = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
data.temperature = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
#else /* if defined(PIOS_MPU6000_ACCEL) */
data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
switch (dev->cfg->orientation) {
case PIOS_MPU6000_TOP_0DEG:
data.gyro_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
data.gyro_x = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
break;
case PIOS_MPU6000_TOP_90DEG:
data.gyro_y = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); // chip Y
data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip X
break;
case PIOS_MPU6000_TOP_180DEG:
data.gyro_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]);
data.gyro_x = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
break;
case PIOS_MPU6000_TOP_270DEG:
data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; // chip Y
data.gyro_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip X
break;
}
data.gyro_z = -1 - (mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]);
data.temperature = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2];
#endif /* if defined(PIOS_MPU6000_ACCEL) */
signed portBASE_TYPE higherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *)&data, &higherPriorityTaskWoken);
mpu6000_irq++;
mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
return woken || higherPriorityTaskWoken == pdTRUE;
return true;
}
#endif /* PIOS_INCLUDE_MPU6000 */
/**

1
flight/pios/inc/pios_mpu6000.h
View File

@ -161,6 +161,7 @@ struct pios_mpu6000_cfg {
enum pios_mpu6000_orientation orientation;
SPIPrescalerTypeDef fast_prescaler;
SPIPrescalerTypeDef std_prescaler;
uint8_t max_downsample;
};
/* Public Functions */

11
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -120,19 +120,20 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.exti_cfg = &pios_exti_mpu6000_cfg,
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
// Clock at 8 khz, downsampled by 8 for 1000 Hz
.Smpl_rate_div_no_dlp = 15,
.Smpl_rate_div_no_dlp = 7,
// Clock at 1 khz, downsampled by 2 for 1000 Hz
.Smpl_rate_div_dlp = 1,
.Smpl_rate_div_dlp = 0,
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
.User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C,
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
.accel_range = PIOS_MPU6000_ACCEL_8G,
.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
.orientation = PIOS_MPU6000_TOP_180DEG,
.fast_prescaler = PIOS_SPI_PRESCALER_16,
.std_prescaler = PIOS_SPI_PRESCALER_64
.fast_prescaler = PIOS_SPI_PRESCALER_4,
.std_prescaler = PIOS_SPI_PRESCALER_64,
.max_downsample = 2
};
#endif /* PIOS_INCLUDE_MPU6000 */

13
flight/targets/boards/revolution/firmware/pios_board.c
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@ -192,20 +192,21 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.exti_cfg = &pios_exti_mpu6000_cfg,
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
// Clock at 8 khz, downsampled by 8 for 1000Hz
.Smpl_rate_div_no_dlp = 15,
// Clock at 8 khz
.Smpl_rate_div_no_dlp = 0,
// with dlp on output rate is 1000Hz
.Smpl_rate_div_dlp = 1,
.Smpl_rate_div_dlp = 0,
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
.User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C,
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
.accel_range = PIOS_MPU6000_ACCEL_8G,
.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
.orientation = PIOS_MPU6000_TOP_180DEG,
.fast_prescaler = PIOS_SPI_PRESCALER_16,
.std_prescaler = PIOS_SPI_PRESCALER_256
.fast_prescaler = PIOS_SPI_PRESCALER_4,
.std_prescaler = PIOS_SPI_PRESCALER_64,
.max_downsample = 16,
};
#endif /* PIOS_INCLUDE_MPU6000 */

11
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -222,20 +222,21 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.exti_cfg = &pios_exti_mpu6000_cfg,
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
// Clock at 8 khz, downsampled by 8 for 1000Hz
.Smpl_rate_div_no_dlp = 7,
// Clock at 8 khz
.Smpl_rate_div_no_dlp = 0,
// with dlp on output rate is 1000Hz
.Smpl_rate_div_dlp = 0,
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
.User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C,
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
.accel_range = PIOS_MPU6000_ACCEL_8G,
.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
.orientation = PIOS_MPU6000_TOP_0DEG,
.fast_prescaler = PIOS_SPI_PRESCALER_16,
.std_prescaler = PIOS_SPI_PRESCALER_256
.fast_prescaler = PIOS_SPI_PRESCALER_4,
.std_prescaler = PIOS_SPI_PRESCALER_64,
.max_downsample = 16,
};
#endif /* PIOS_INCLUDE_MPU6000 */