diff options
| author | Keith Packard <keithp@keithp.com> | 2013-02-04 09:51:30 -0800 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-02-04 09:51:30 -0800 |
| commit | 9aca92a20343a2cf7e05abc7b100852d81f86c0d (patch) | |
| tree | b824186b281a8420521689771e7692c61764c90e /src/drivers/ao_mpu6000.c | |
| parent | 809eb5b1252a75d489e3ad2fd2a4af701fa0aa52 (diff) | |
altos: Document which MPU6000 revs have broken accel values
From Tridge -- MPU6000 rev C4 and C5 are broken, having accelerometer
values in the wrong range. This commit just adds comments which note
this; experimentation will be required to actually sort out what's
going on.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/drivers/ao_mpu6000.c')
| -rw-r--r-- | src/drivers/ao_mpu6000.c | 18 |
1 files changed, 18 insertions, 0 deletions
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index 49596705..6d47482c 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -199,6 +199,24 @@ ao_mpu6000_setup(void) ao_delay(AO_MS_TO_TICKS(200)); ao_mpu6000_sample(&test_mode); +#if TRIDGE + // read the product ID rev c has 1/2 the sensitivity of rev d + _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID); + //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id); + + if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) || + (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) { + // Accel scale 8g (4096 LSB/g) + // Rev C has different scaling than rev D + register_write(MPUREG_ACCEL_CONFIG,1<<3); + } else { + // Accel scale 8g (4096 LSB/g) + register_write(MPUREG_ACCEL_CONFIG,2<<3); + } + hal.scheduler->delay(1); + +#endif + /* Configure accelerometer to +/-16G */ ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG, (0 << MPU600_ACCEL_CONFIG_XA_ST) | |