rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity

For some reason the gyro needs 300 ms after reset in order to work after the

Browse Source 
bootloader jumps to code.  Nothing in datasheet to imply what.
This commit is contained in:
James Cotton 2012-05-10 02:06:45 -05:00
parent 2ca3cde83f
commit 848f1b0e29
3 changed files with 9 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
flight/PiOS/Common/pios_mpu6000.c
View File

@ -134,12 +134,16 @@ int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios
*/
static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
{
PIOS_MPU6000_Test();
// Reset chip
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, 0x80) != 0);
PIOS_DELAY_WaitmS(100);
PIOS_DELAY_WaitmS(300);
// Reset chip and fifo
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, 0x01 | 0x02 | 0x04) != 0);
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, 0x80 | 0x01 | 0x02 | 0x04) != 0);
// Wait for reset to finish
while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) & 0x07);
@ -179,7 +183,7 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
// Interrupt configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0) ;
// Interrupt configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0) ;
if((PIOS_MPU6000_GetReg(PIOS_MPU6000_INT_EN_REG)) != cfg->interrupt_en)

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

@ -87,6 +87,7 @@
/* User control functionality */
#define PIOS_MPU6000_USERCTL_FIFO_EN 0X40
#define PIOS_MPU6000_USERCTL_DIS_I2C 0X10
#define PIOS_MPU6000_USERCTL_FIFO_RST 0X02
#define PIOS_MPU6000_USERCTL_GYRO_RST 0X01

2
flight/Revolution/System/pios_board.c
View File

@ -177,7 +177,7 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.Smpl_rate_div = 7,
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN,
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | 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_500_DEG,