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Code Issues Releases Activity

Add MPU6000 accel range to config structure. Also put in correct values.

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This commit is contained in:
James Cotton 2012-04-03 01:53:21 -05:00
parent 3346e848e0
commit d7cb232315
3 changed files with 23 additions and 5 deletions
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3
flight/CopterControl/System/pios_board.c
View File

@ -105,11 +105,12 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.exti_cfg = &pios_exti_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, .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 1khz // Clock at 8 khz, downsampled by 8 for 1khz
.Smpl_rate_div = 15, .Smpl_rate_div = 15,
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN, .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN,
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK, .Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
.accel_range = PIOS_MPU6000_ACCEL_8G,
.gyro_range = PIOS_MPU6000_SCALE_500_DEG, .gyro_range = PIOS_MPU6000_SCALE_500_DEG,
.filter = PIOS_MPU6000_LOWPASS_256_HZ .filter = PIOS_MPU6000_LOWPASS_256_HZ
}; };

17
flight/PiOS/Common/pios_mpu6000.c
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@ -155,7 +155,7 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
// FIFO storage // FIFO storage
#if defined(PIOS_MPU6000_ACCEL) #if defined(PIOS_MPU6000_ACCEL)
// Set the accel to 8g mode // Set the accel to 8g mode
while(PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, 0x10) != 0); while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, cfg->accel_range) != 0);
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0); while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0);
#else #else
@ -332,7 +332,17 @@ float PIOS_MPU6000_GetScale()
float PIOS_MPU6000_GetAccelScale() float PIOS_MPU6000_GetAccelScale()
{ {
return GRAV / 2048.0f / 2.0f; switch (dev->cfg->accel_range) {
case PIOS_MPU6000_ACCEL_2G:
return GRAV / 16384.0f;
case PIOS_MPU6000_ACCEL_4G:
return GRAV / 8192.0f;
case PIOS_MPU6000_ACCEL_8G:
return GRAV / 4096.0f;
case PIOS_MPU6000_ACCEL_16G:
return GRAV / 2048.0f;
}
return 0;
} }
/** /**
@ -340,11 +350,10 @@ float PIOS_MPU6000_GetAccelScale()
* \return 0 if test succeeded * \return 0 if test succeeded
* \return non-zero value if test succeeded * \return non-zero value if test succeeded
*/ */
int32_t mpu6000_id;
uint8_t PIOS_MPU6000_Test(void) uint8_t PIOS_MPU6000_Test(void)
{ {
/* Verify that ID matches (MPU6000 ID is 0x69) */ /* Verify that ID matches (MPU6000 ID is 0x69) */
mpu6000_id = PIOS_MPU6000_ReadID(); int32_t mpu6000_id = PIOS_MPU6000_ReadID();
if(mpu6000_id < 0) if(mpu6000_id < 0)
return -1; return -1;

8
flight/PiOS/inc/pios_mpu6000.h
View File

@ -115,6 +115,13 @@ enum pios_mpu6000_filter {
PIOS_MPU6000_LOWPASS_5_HZ = 0x06 PIOS_MPU6000_LOWPASS_5_HZ = 0x06
}; };
enum pios_mpu6000_accel_range {
PIOS_MPU6000_ACCEL_2G = 0x00,
PIOS_MPU6000_ACCEL_4G = 0x08,
PIOS_MPU6000_ACCEL_8G = 0x10,
PIOS_MPU6000_ACCEL_16G = 0x18
};
struct pios_mpu6000_data { struct pios_mpu6000_data {
int16_t gyro_x; int16_t gyro_x;
int16_t gyro_y; int16_t gyro_y;
@ -136,6 +143,7 @@ struct pios_mpu6000_cfg {
uint8_t interrupt_en; /* 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 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) */ uint8_t Pwr_mgmt_clk; /* Power management and clock selection (See datasheet page 32 for more details) */
enum pios_mpu6000_accel_range accel_range;
enum pios_mpu6000_range gyro_range; enum pios_mpu6000_range gyro_range;
enum pios_mpu6000_filter filter; enum pios_mpu6000_filter filter;
}; };