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.h | |
| 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.h')
| -rw-r--r-- | src/drivers/ao_mpu6000.h | 37 |
1 files changed, 37 insertions, 0 deletions
diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h index 6aada9a9..f01e9e83 100644 --- a/src/drivers/ao_mpu6000.h +++ b/src/drivers/ao_mpu6000.h @@ -21,6 +21,27 @@ #define MPU6000_ADDR_WRITE 0xd0 #define MPU6000_ADDR_READ 0xd1 +/* From Tridge */ +#define MPUREG_XG_OFFS_TC 0x00 +#define MPUREG_YG_OFFS_TC 0x01 +#define MPUREG_ZG_OFFS_TC 0x02 +#define MPUREG_X_FINE_GAIN 0x03 +#define MPUREG_Y_FINE_GAIN 0x04 +#define MPUREG_Z_FINE_GAIN 0x05 +#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte) +#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte) +#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte) +#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte) +#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte) +#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte) +#define MPUREG_PRODUCT_ID 0x0C // Product ID Register +#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte) +#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte) +#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte) +#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte) +#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte) +#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte) + #define MPU6000_SMPRT_DIV 0x19 #define MPU6000_CONFIG 0x1a @@ -163,4 +184,20 @@ extern struct ao_mpu6000_sample ao_mpu6000_current; void ao_mpu6000_init(void); +/* Product ID Description for MPU6000 + * high 4 bits low 4 bits + * Product Name Product Revision + */ +#define MPU6000ES_REV_C4 0x14 /* 0001 0100 */ +#define MPU6000ES_REV_C5 0x15 /* 0001 0101 */ +#define MPU6000ES_REV_D6 0x16 /* 0001 0110 */ +#define MPU6000ES_REV_D7 0x17 /* 0001 0111 */ +#define MPU6000ES_REV_D8 0x18 /* 0001 1000 */ +#define MPU6000_REV_C4 0x54 /* 0101 0100 */ +#define MPU6000_REV_C5 0x55 /* 0101 0101 */ +#define MPU6000_REV_D6 0x56 /* 0101 0110 */ +#define MPU6000_REV_D7 0x57 /* 0101 0111 */ +#define MPU6000_REV_D8 0x58 /* 0101 1000 */ +#define MPU6000_REV_D9 0x59 /* 0101 1001 */ + #endif /* _AO_MPU6000_H_ */ |