From: Olivier Matz <zer0@droids-corp.org>
Date: Thu, 26 Jun 2014 18:38:09 +0000 (+0200)
Subject: fix imu configuration
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=1efaecd600f90de4aa0f18d694355c52f2447b5a;p=protos%2Fimu.git

fix imu configuration
---

diff --git a/mpu6050.c b/mpu6050.c
index 5ffa100..143d0e9 100644
--- a/mpu6050.c
+++ b/mpu6050.c
@@ -16,9 +16,9 @@
 
 // fs_sel = 1
 // 500°/s
-#define gyro_x_resolution 66.5
-#define gyro_y_resolution 66.5
-#define gyro_z_resolution 66.5
+/* #define gyro_x_resolution 66.5 */
+/* #define gyro_y_resolution 66.5 */
+/* #define gyro_z_resolution 66.5 */
 
 // fs_sel = 3
 // 2000°/s
@@ -26,9 +26,9 @@
 #define gyro_y_resolution 16.4
 #define gyro_z_resolution 16.4
 
-#define accel_x_resolution 8192.0
-#define accel_y_resolution 8192.0
-#define accel_z_resolution 8192.0
+#define accel_x_resolution 2048.0
+#define accel_y_resolution 2048.0
+#define accel_z_resolution 2048.0
 
 
 
@@ -37,8 +37,8 @@
 #define MPU6050_OFF_LSB 0
 
 
-#define MPU6050_ADDRESS 0x68
-#define MPU6050_MAGNETO_ADDRESS 0x0C
+#define MPU6050_ADDRESS 0x69
+#define MPU6050_MAGNETO_ADDRESS 0x0D
 
 #define SWAP_16(a) ((( (a) & 0xff)<<8) | (( (a) >> 8) & 0xff))
 
@@ -192,7 +192,7 @@ uint8_t mpu6050_init(void)
 
 
 	while(1) {
-		err = read_reg(MPU6050_ADDRESS, 0x75, &id);
+		err = read_reg(MPU6050_ADDRESS, MPU6050_RA_WHO_AM_I, &id);
 		if (err)
 			continue;
 		if (id == 0x68)
@@ -210,9 +210,9 @@ uint8_t mpu6050_init(void)
 
 	//Disable gyro self tests, scale of 2000 degrees/s
 	send_mpu6050_cmd(MPU6050_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0b00011000);
+	//Disable accel self tests, scale of +-16g, no DHPF
+	send_mpu6050_cmd(MPU6050_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0b00011000);
 
-	//Disable accel self tests, scale of +-4g, no DHPF
-	send_mpu6050_cmd(MPU6050_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0b00001000);
 	//Freefall threshold of <|0mg|
 	send_mpu6050_cmd(MPU6050_ADDRESS, MPU6050_RA_FF_THR, 0x00);
 	//Freefall duration limit of 0