SI units Accel and Gyro.afro_test

1 files changed, 16 insertions, 14 deletions

diff --git a/drivers/mpu6000.h b/drivers/mpu6000.h
index a667b00..7194cb4 100644
--- a/drivers/mpu6000.h
+++ b/drivers/mpu6000.h
@@ -36,23 +36,25 @@ class MPU6000 {
 			spi.reg.CR1 = (1 << 9) | (1 << 8) | (1 << 6) | (2 << 3) | (1 << 2) | (1 << 1) | (1 << 0); // SSM On | SSI 1 | SPE On | BR /8 | CPOL CK 1 Idle | CPHA Second clock data capture
 			spi.reg.CR2 = (1 << 12) | ( 7 << 8); // FRXTH RXNE if FIFO >= 8bit | DS 8-bit
 			write_register(0x6B, (1 << 7)); // Device Reset
-			Time::sleep(150);
+			Time::sleep(100);
+			write_register(0x68, (1 << 2) | (1 << 1) | (1 << 0)); // SINGAL_PATH_RESET - Reset Gyro | Accel | Temp
+			Time::sleep(100);
 			uint8_t who_am_i = 0x00;
 			while (who_am_i != 0x68) {
 				read_register(0x75, 1, &who_am_i); //WHO_AM_I register
 			}
 			write_register(0x19, 4); // SAMPLE DIV 4
-			Time::sleep(1);
+			Time::sleep(50);
 			write_register(0x1A, (3 << 0)); // CONFIG - DLPF_CFG 42hz
-			Time::sleep(1);
+			Time::sleep(50);
 			write_register(0x1B, (3 << 3)); // GYRO_CFG, 2000 deg/s
-			Time::sleep(1);
-			write_register(0x1C, (3 << 3)); // ACCEL_CFG, +-16g
-			Time::sleep(1);
+			Time::sleep(50);
+			write_register(0x1C, (3 << 3)); // ACCEL_CFG, +-16g || Why u no work!
+			Time::sleep(50);
 			write_register(0x6A, (1 << 4)); // USER_CTRL - I2C Off
-			Time::sleep(1);
+			Time::sleep(50);
 			write_register(0x6B, (3 << 0)); // PWR_MGMT_1 - CLKSEL PLL_Z
-			Time::sleep(1);
+			Time::sleep(50);
 			write_register(0x6C, 0); // PWR_MGMT_2
 			Time::sleep(150);
 		}
@@ -67,23 +69,23 @@ class MPU6000 {
 			
 			temp = raw_data[0] << 8;
 			temp |= raw_data[1];
-			accel[0] = float(temp) * 2 / 32768.0f;
+			accel[0] = float(temp) * (9.81 / 16384.0); // Actually in +-2g for reasons unknown.
 			temp = raw_data[2] << 8;
 			temp |= raw_data[3];
-			accel[1] = float(temp) * 2 / 32768.0f;
+			accel[1] = float(temp) * (9.81 / 16384.0);
 			temp = raw_data[4] << 8;
 			temp |= raw_data[5];
-			accel[2] = float(temp) * 2 / 32768.0f;
+			accel[2] = float(temp) * (9.81 / 16384.0);
 			
 			temp = raw_data[8] << 8;
 			temp |= raw_data[9];
-			gyro[0] = float(temp) * 2000 / 32768.0f;
+			gyro[0] = float(temp) * (2000.0f / 32768.0f) * 0.0174532f;
 			temp = raw_data[10] << 8;
 			temp |= raw_data[11];
-			gyro[1] = float(temp) * 2000 / 32768.0f;
+			gyro[1] = float(temp) * (2000.0f / 32768.0f) * 0.0174532f;
 			temp = raw_data[12] << 8;
 			temp |= raw_data[13];
-			gyro[2] = float(temp) * 2000 / 32768.0f;
+			gyro[2] = float(temp) * (2000.0f / 32768.0f) * 0.0174532f;
 		}
 };