diff options
Diffstat (limited to 'drivers/mpu6000.h')
| -rw-r--r-- | drivers/mpu6000.h | 30 |
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; } }; |