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Code Issues Releases Activity

Switch revo over to MPU6050

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This commit is contained in:
James Cotton 2011-11-13 19:45:06 -06:00
parent 96a098bf74
commit 76a956416c
2 changed files with 16 additions and 11 deletions
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3
flight/Revolution/System/inc/pios_config.h
View File

@ -56,7 +56,8 @@
#define PIOS_INCLUDE_BMA180 #define PIOS_INCLUDE_BMA180
#define PIOS_INCLUDE_HMC5883 #define PIOS_INCLUDE_HMC5883
#define PIOS_INCLUDE_BMP085 #define PIOS_INCLUDE_BMP085
#define PIOS_INCLUDE_IMU3000 //#define PIOS_INCLUDE_IMU3000
#define PIOS_INCLUDE_MPU6050
//#define PIOS_INCLUDE_HCSR04 //#define PIOS_INCLUDE_HCSR04
#define PIOS_INCLUDE_COM #define PIOS_INCLUDE_COM

24
flight/Revolution/System/pios_board.c
View File

@ -693,8 +693,8 @@ static const struct pios_bma180_cfg pios_bma180_cfg = {
}, },
}; };
#include "pios_imu3000.h" #include "pios_mpu6050.h"
static const struct pios_imu3000_cfg pios_imu3000_cfg = { static const struct pios_mpu6050_cfg pios_mpu6050_cfg = {
.drdy = { .drdy = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
@ -723,15 +723,15 @@ static const struct pios_imu3000_cfg pios_imu3000_cfg = {
.NVIC_IRQChannelCmd = ENABLE, .NVIC_IRQChannelCmd = ENABLE,
}, },
}, },
.Fifo_store = PIOS_IMU3000_FIFO_TEMP_OUT | PIOS_IMU3000_FIFO_GYRO_X_OUT | PIOS_IMU3000_FIFO_GYRO_Y_OUT .Fifo_store = PIOS_MPU6050_FIFO_TEMP_OUT | PIOS_MPU6050_FIFO_GYRO_X_OUT | PIOS_MPU6050_FIFO_GYRO_Y_OUT
| PIOS_IMU3000_FIFO_GYRO_Z_OUT | PIOS_IMU3000_FIFO_FOOTER, | PIOS_MPU6050_FIFO_GYRO_Z_OUT | PIOS_MPU6050_FIFO_FOOTER,
// Clock at 8 khz, downsampled by 4 for 2khz // Clock at 8 khz, downsampled by 4 for 2khz
.Smpl_rate_div = 7, .Smpl_rate_div = 7,
.Interrupt_cfg = PIOS_IMU3000_INT_DATA_RDY | PIOS_IMU3000_INT_CLR_ANYRD, .Interrupt_cfg = PIOS_MPU6050_INT_DATA_RDY | PIOS_MPU6050_INT_CLR_ANYRD,
.User_ctl = PIOS_IMU3000_USERCTL_FIFO_EN, .User_ctl = PIOS_MPU6050_USERCTL_FIFO_EN,
.Pwr_mgmt_clk = PIOS_IMU3000_PWRMGMT_PLL_X_CLK, .Pwr_mgmt_clk = PIOS_MPU6050_PWRMGMT_PLL_X_CLK,
.range = PIOS_IMU3000_SCALE_500_DEG, .range = PIOS_MPU6050_SCALE_500_DEG,
.filter = PIOS_IMU3000_LOWPASS_256_HZ .filter = PIOS_MPU6050_LOWPASS_256_HZ
}; };
@ -867,11 +867,15 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Assert(0); PIOS_DEBUG_Assert(0);
} }
uint32_t test_val = PIOS_MPU6050_Test();
PIOS_BMA180_Attach(pios_spi_accel_id); PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg); PIOS_BMA180_Init(&pios_bma180_cfg);
PIOS_IMU3000_Init(&pios_imu3000_cfg); PIOS_MPU6050_Init(&pios_mpu6050_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg); PIOS_BMP085_Init(&pios_bmp085_cfg);
PIOS_HMC5883_Init(&pios_hmc5883_cfg); PIOS_HMC5883_Init(&pios_hmc5883_cfg);
test_val ++;
} }