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op-848 MPU6000 support user configurabe accel/gyro scales and filter bandwidth.

Browse Source 
board definitions can override any of this settings for special applications.
Also include cleanup from "magic numbers" and fix for inverted ranges
This commit is contained in:
Alessio Morale 2013-02-17 02:02:12 +01:00
parent aea1b4b544
commit e27a07631e
10 changed files with 245 additions and 89 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
flight/CopterControl/Makefile
View File

@ -233,6 +233,7 @@ SRC += $(OPUAVSYNTHDIR)/ratedesired.c
SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
SRC += $(OPUAVSYNTHDIR)/airspeedactual.c
SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
endif

6
flight/CopterControl/System/pios_board.c
View File

@ -117,9 +117,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.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,
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
.accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS,
.gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS,
.filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS,
.orientation = PIOS_MPU6000_TOP_180DEG
};
#endif /* PIOS_INCLUDE_MPU6000 */

261
flight/PiOS/Common/pios_mpu6000.c
View File

@ -31,7 +31,7 @@
/* Project Includes */
#include "pios.h"
#include "mpu6000settings.h"
#if defined(PIOS_INCLUDE_MPU6000)
#include "fifo_buffer.h"
@ -48,6 +48,8 @@ struct mpu6000_dev {
uint32_t slave_num;
xQueueHandle queue;
const struct pios_mpu6000_cfg * cfg;
enum pios_mpu6000_range gyro_range;
enum pios_mpu6000_accel_range accel_range;
enum pios_mpu6000_dev_magic magic;
};
@ -62,6 +64,10 @@ 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 uint8_t getGyroRange(enum pios_mpu6000_range range);
static uint8_t getAccelRange(enum pios_mpu6000_accel_range accel);
static uint8_t getFilterSetting(enum pios_mpu6000_filter filter);
#define DEG_TO_RAD (M_PI / 180.0)
#define GRAV 9.81f
@ -137,15 +143,24 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
PIOS_MPU6000_Test();
//initialize settings for acc/gyro Scale and filter
Mpu6000SettingsInitialize();
// Reset chip
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, 0x80) != 0);
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0);
PIOS_DELAY_WaitmS(300);
// Reset chip and fifo
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, 0x80 | 0x01 | 0x02 | 0x04) != 0);
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG,
PIOS_MPU6000_USERCTL_GYRO_RST |
PIOS_MPU6000_USERCTL_SIG_COND |
PIOS_MPU6000_USERCTL_FIFO_RST) != 0);
// Wait for reset to finish
while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) & 0x07);
while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) &
(PIOS_MPU6000_USERCTL_GYRO_RST |
PIOS_MPU6000_USERCTL_SIG_COND |
PIOS_MPU6000_USERCTL_FIFO_RST));
//Power management configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
@ -158,8 +173,9 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
// FIFO storage
#if defined(PIOS_MPU6000_ACCEL)
// Set the accel scale
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, cfg->accel_range) != 0);
// Set the accel range
dev->accel_range = getAccelRange(cfg->accel_range);
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, dev->accel_range) != 0);
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0);
#else
@ -170,10 +186,13 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ;
// Digital low-pass filter and scale
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, cfg->filter) != 0) ;
uint8_t filterSetting;
filterSetting = getFilterSetting(cfg->filter);
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0) ;
// Digital low-pass filter and scale
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, cfg->gyro_range) != 0) ;
// Gyro range
dev->gyro_range = getGyroRange(cfg->gyro_range);
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, dev->gyro_range) != 0) ;
// Interrupt configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) ;
@ -322,13 +341,14 @@ xQueueHandle PIOS_MPU6000_GetQueue()
float PIOS_MPU6000_GetScale()
{
switch (dev->cfg->gyro_range) {
switch (dev->gyro_range) {
case PIOS_MPU6000_SCALE_250_DEG:
return 1.0f / 131.0f;
case PIOS_MPU6000_SCALE_500_DEG:
return 1.0f / 65.5f;
case PIOS_MPU6000_SCALE_1000_DEG:
return 1.0f / 32.8f;
case PIOS_MPU6000_SCALE_FROM_SETTINGS:
case PIOS_MPU6000_SCALE_2000_DEG:
return 1.0f / 16.4f;
}
@ -337,12 +357,13 @@ float PIOS_MPU6000_GetScale()
float PIOS_MPU6000_GetAccelScale()
{
switch (dev->cfg->accel_range) {
switch (dev->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:
case PIOS_MPU6000_ACCEL_FROM_SETTINGS:
return GRAV / 4096.0f;
case PIOS_MPU6000_ACCEL_16G:
return GRAV / 2048.0f;
@ -411,20 +432,20 @@ bool PIOS_MPU6000_IRQHandler(void)
mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
timeval = PIOS_DELAY_GetRaw();
if(!mpu6000_configured)
if (!mpu6000_configured)
return false;
mpu6000_count = PIOS_MPU6000_FifoDepth();
if(mpu6000_count < sizeof(struct pios_mpu6000_data))
if (mpu6000_count < sizeof(struct pios_mpu6000_data))
return false;
if(PIOS_MPU6000_ClaimBus() != 0)
if (PIOS_MPU6000_ClaimBus() != 0)
return false;
uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
uint8_t mpu6000_send_buf[1 + sizeof(struct pios_mpu6000_data) ] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
uint8_t mpu6000_rec_buf[1 + sizeof(struct pios_mpu6000_data) ];
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
mpu6000_fails++;
return false;
@ -437,85 +458,173 @@ bool PIOS_MPU6000_IRQHandler(void)
// In the case where extras samples backed up grabbed an extra
if (mpu6000_count >= (sizeof(data) * 2)) {
mpu6000_fifo_backup++;
if(PIOS_MPU6000_ClaimBus() != 0)
return false;
if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
if (PIOS_MPU6000_ClaimBus() != 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_ReleaseBus();
mpu6000_fails++;
return false;
}
PIOS_MPU6000_ReleaseBus();
}
// 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:
data.accel_y = -(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 = -(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 = -(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_270DEG:
data.accel_y = 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 = 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;
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 = -(mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14]);
data.accel_z = -(mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
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
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 = -(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 = -(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_270DEG:
data.gyro_y = 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;
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 = -(mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]);
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
portBASE_TYPE xHigherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
mpu6000_irq++;
mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
return xHigherPriorityTaskWoken == pdTRUE;
return xHigherPriorityTaskWoken == pdTRUE;
}
/**
* @brief Return the gyro range setting based on config and/or mpu6000settings.
* \return the chosen gyro range
*/
static uint8_t getGyroRange(enum pios_mpu6000_range gyro)
{
// if the setting is overridden by the board config then use the board value
if (gyro != PIOS_MPU6000_SCALE_FROM_SETTINGS)
return(uint8_t) gyro;
uint8_t gyroSettings;
Mpu6000SettingsGyroScaleGet(&gyroSettings);
switch (gyroSettings) {
case MPU6000SETTINGS_GYROSCALE_SCALE_250:
return PIOS_MPU6000_SCALE_250_DEG;
case MPU6000SETTINGS_GYROSCALE_SCALE_500:
return PIOS_MPU6000_SCALE_500_DEG;
case MPU6000SETTINGS_GYROSCALE_SCALE_1000:
return PIOS_MPU6000_SCALE_1000_DEG;
case MPU6000SETTINGS_GYROSCALE_SCALE_2000:
return PIOS_MPU6000_SCALE_2000_DEG;
default:
return PIOS_MPU6000_SCALE_2000_DEG;
}
}
/**
* @brief Return the accel range setting based on config and/or mpu6000settings.
* \return the chosen accel range
*/
static uint8_t getAccelRange(enum pios_mpu6000_accel_range accel)
{
// if the setting is overridden by the board config then use the board value
if (accel != PIOS_MPU6000_ACCEL_FROM_SETTINGS)
return (uint8_t) accel;
uint8_t accelSetting;
Mpu6000SettingsAccelScaleGet(&accelSetting);
switch (accelSetting) {
case MPU6000SETTINGS_ACCELSCALE_SCALE_2G:
return PIOS_MPU6000_ACCEL_2G;
case MPU6000SETTINGS_ACCELSCALE_SCALE_4G:
return PIOS_MPU6000_ACCEL_4G;
case MPU6000SETTINGS_ACCELSCALE_SCALE_8G:
return PIOS_MPU6000_ACCEL_8G;
case MPU6000SETTINGS_ACCELSCALE_SCALE_16G:
return PIOS_MPU6000_ACCEL_16G;
default:
return PIOS_MPU6000_ACCEL_8G;
}
}
/**
* @brief Return the filter settings based on config and/or mpu6000settings.
* \return the chosen filter settings
*/
static uint8_t getFilterSetting(enum pios_mpu6000_filter filter)
{
// if the setting is overridden by the board config then use the board value
if (filter != PIOS_MPU6000_LOWPASS_FROM_SETTINGS)
return(uint8_t) filter;
uint8_t filterSetting;
Mpu6000SettingsFilterSettingGet(&filterSetting);
switch (filterSetting) {
case MPU6000SETTINGS_FILTERSETTING_LOWPASS_256_HZ:
return PIOS_MPU6000_LOWPASS_256_HZ;
case MPU6000SETTINGS_FILTERSETTING_LOWPASS_188_HZ:
return PIOS_MPU6000_LOWPASS_188_HZ;
case MPU6000SETTINGS_FILTERSETTING_LOWPASS_98_HZ:
return PIOS_MPU6000_LOWPASS_98_HZ;
case MPU6000SETTINGS_FILTERSETTING_LOWPASS_42_HZ:
return PIOS_MPU6000_LOWPASS_42_HZ;
case MPU6000SETTINGS_FILTERSETTING_LOWPASS_20_HZ:
return PIOS_MPU6000_LOWPASS_20_HZ;
case MPU6000SETTINGS_FILTERSETTING_LOWPASS_10_HZ:
return PIOS_MPU6000_LOWPASS_10_HZ;
case MPU6000SETTINGS_FILTERSETTING_LOWPASS_5_HZ:
return PIOS_MPU6000_LOWPASS_5_HZ;
default:
return PIOS_MPU6000_LOWPASS_256_HZ;
}
}
#endif

7
flight/PiOS/inc/pios_mpu6000.h
View File

@ -87,8 +87,10 @@
/* User control functionality */
#define PIOS_MPU6000_USERCTL_FIFO_EN 0X40
#define PIOS_MPU6000_USERCTL_I2C_MST_EN 0x20
#define PIOS_MPU6000_USERCTL_DIS_I2C 0X10
#define PIOS_MPU6000_USERCTL_FIFO_RST 0X02
#define PIOS_MPU6000_USERCTL_FIFO_RST 0X04
#define PIOS_MPU6000_USERCTL_SIG_COND 0X02
#define PIOS_MPU6000_USERCTL_GYRO_RST 0X01
/* Power management and clock selection */
@ -100,6 +102,7 @@
#define PIOS_MPU6000_PWRMGMT_STOP_CLK 0X07
enum pios_mpu6000_range {
PIOS_MPU6000_SCALE_FROM_SETTINGS = 0xFF,
PIOS_MPU6000_SCALE_250_DEG = 0x00,
PIOS_MPU6000_SCALE_500_DEG = 0x08,
PIOS_MPU6000_SCALE_1000_DEG = 0x10,
@ -107,6 +110,7 @@ enum pios_mpu6000_range {
};
enum pios_mpu6000_filter {
PIOS_MPU6000_LOWPASS_FROM_SETTINGS = 0xFF,
PIOS_MPU6000_LOWPASS_256_HZ = 0x00,
PIOS_MPU6000_LOWPASS_188_HZ = 0x01,
PIOS_MPU6000_LOWPASS_98_HZ = 0x02,
@ -117,6 +121,7 @@ enum pios_mpu6000_filter {
};
enum pios_mpu6000_accel_range {
PIOS_MPU6000_ACCEL_FROM_SETTINGS = 0xFF,
PIOS_MPU6000_ACCEL_2G = 0x00,
PIOS_MPU6000_ACCEL_4G = 0x08,
PIOS_MPU6000_ACCEL_8G = 0x10,

6
flight/RevoMini/System/pios_board.c
View File

@ -181,9 +181,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.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,
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
.accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS,
.gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS,
.filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS,
.orientation = PIOS_MPU6000_TOP_180DEG
};
#endif /* PIOS_INCLUDE_MPU6000 */

2
flight/RevoMini/UAVObjects.inc
View File

@ -94,7 +94,7 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive
UAVOBJSRCFILENAMES += mpu6000settings
UAVOBJSRCFILENAMES += txpidsettings
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )

6
flight/Revolution/System/pios_board.c
View File

@ -222,9 +222,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.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,
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
.accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS,
.gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS,
.filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS,
.orientation = PIOS_MPU6000_TOP_0DEG
};
#endif /* PIOS_INCLUDE_MPU6000 */

1
flight/Revolution/UAVObjects.inc
View File

@ -94,6 +94,7 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive
UAVOBJSRCFILENAMES += mpu6000settings
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

6
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -99,7 +99,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/oplinkstatus.h \
$$UAVOBJECT_SYNTHETICS/osdsettings.h \
$$UAVOBJECT_SYNTHETICS/waypoint.h \
$$UAVOBJECT_SYNTHETICS/waypointactive.h
$$UAVOBJECT_SYNTHETICS/waypointactive.h \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.h
SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
@ -178,4 +179,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/oplinkstatus.cpp \
$$UAVOBJECT_SYNTHETICS/osdsettings.cpp \
$$UAVOBJECT_SYNTHETICS/waypoint.cpp \
$$UAVOBJECT_SYNTHETICS/waypointactive.cpp
$$UAVOBJECT_SYNTHETICS/waypointactive.cpp \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp

38
shared/uavobjectdefinition/mpu6000settings.xml Normal file
View File

@ -0,0 +1,38 @@
<xml>
<object name="Mpu6000Settings" singleinstance="true" settings="true" category="Sensors">
<description>Settings for the @ref MPU6000 sensor used on CC3D and Revolution</description>
<field name="GyroScale" units="deg/s" type="enum" elements="1" defaultvalue="Scale_2000">
<options>
<option>Scale_250</option>
<option>Scale_500</option>
<option>Scale_1000</option>
<option>Scale_2000</option>
</options>
</field>
<field name="AccelScale" units="g" type="enum" elements="1" defaultvalue="Scale_8g">
<options>
<option>Scale_2g</option>
<option>Scale_4g</option>
<option>Scale_8g</option>
<option>Scale_16g</option>
</options>
</field>
<field name="FilterSetting" units="Hz" type="enum" elements="1" defaultvalue="Lowpass_256_Hz">
<options>
<option>Lowpass_256_Hz</option>
<option>Lowpass_188_Hz</option>
<option>Lowpass_98_Hz</option>
<option>Lowpass_42_Hz</option>
<option>Lowpass_20_Hz</option>
<option>Lowpass_10_Hz</option>
<option>Lowpass_5_Hz</option>
</options>
</field>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>