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Switch to 16G accelerometer config #3203

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merged 2 commits into from
May 13, 2018
Merged

Switch to 16G accelerometer config #3203

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d8288f6
Change MPU/ICM gyro drivers to use 16G acceleration scale
digitalentity May 12, 2018
3163f42
Force accel configuration reset
digitalentity May 12, 2018
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4 changes: 2 additions & 2 deletions src/main/drivers/accgyro/accgyro_mpu6000.c
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,7 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
delayMicroseconds(15);

// Accel +/- 8 G Full Scale
busWrite(busDev, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
busWrite(busDev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delayMicroseconds(15);

busWrite(busDev, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR
Expand All @@ -133,7 +133,7 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)

static void mpu6000AccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 8;
acc->acc_1G = 512 * 4;
}

bool mpu6000AccDetect(accDev_t *acc)
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6 changes: 3 additions & 3 deletions src/main/drivers/accgyro/accgyro_mpu6050.c
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Expand Up @@ -88,7 +88,7 @@ static void mpu6050AccAndGyroInit(gyroDev_t *gyro)
delayMicroseconds(15);

// Accel +/- 8 G Full Scale
busWrite(gyro->busDev, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
busWrite(gyro->busDev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delayMicroseconds(15);

busWrite(gyro->busDev, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
Expand All @@ -109,10 +109,10 @@ static void mpu6050AccInit(accDev_t *acc)
{
mpuContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
if (ctx->chipMagicNumber == 0x6850) {
acc->acc_1G = 512 * 8;
acc->acc_1G = 512 * 4;
}
else {
acc->acc_1G = 256 * 8;
acc->acc_1G = 256 * 4;
}
}

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4 changes: 2 additions & 2 deletions src/main/drivers/accgyro/accgyro_mpu6500.c
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Expand Up @@ -43,7 +43,7 @@

static void mpu6500AccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 8;
acc->acc_1G = 512 * 4;
}

bool mpu6500AccDetect(accDev_t *acc)
Expand Down Expand Up @@ -89,7 +89,7 @@ static void mpu6500AccAndGyroInit(gyroDev_t *gyro)
busWrite(dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED);
delay(15);

busWrite(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
busWrite(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);

busWrite(dev, MPU_RA_CONFIG, config->gyroConfigValues[0]);
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4 changes: 2 additions & 2 deletions src/main/drivers/accgyro/accgyro_mpu9250.c
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Expand Up @@ -43,7 +43,7 @@

static void mpu9250AccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 8;
acc->acc_1G = 512 * 4;
}

bool mpu9250AccDetect(accDev_t *acc)
Expand Down Expand Up @@ -89,7 +89,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro)
busWrite(dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED);
delay(15);

busWrite(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
busWrite(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);

busWrite(dev, MPU_RA_CONFIG, config->gyroConfigValues[0]);
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4 changes: 1 addition & 3 deletions src/main/fc/fc_msp.c
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Expand Up @@ -427,10 +427,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF

case MSP_RAW_IMU:
{
// Hack scale due to choice of units for sensor data in multiwii
const uint8_t scale = (acc.dev.acc_1G > 1024) ? 8 : 1;
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, (int16_t)lrintf(acc.accADCf[i] * acc.dev.acc_1G / scale));
sbufWriteU16(dst, (int16_t)lrintf(acc.accADCf[i] * 512));
}
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, gyroRateDps(i));
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2 changes: 1 addition & 1 deletion src/main/sensors/acceleration.c
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Expand Up @@ -79,7 +79,7 @@ STATIC_FASTRAM filterApplyFnPtr accNotchFilterApplyFn;
STATIC_FASTRAM void *accNotchFilter[XYZ_AXIS_COUNT];
#endif

PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 1);
PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 2);

void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
{
Expand Down