bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale)
{
bool ack;
uint8_t sig;
delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
ack = i2cRead(MPU6050_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig);
if (!ack)
return false;
if (sig != MPU6050_ADDRESS)
return false;
// get chip revision + fake it if needed
if (scale)
mpuProductID = MPU6000_REV_C5; // no, seriously? why don't you make the chip ID list public.
else
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &mpuProductID);
acc->init = mpu6050AccInit;
acc->read = mpu6050AccRead;
acc->align = mpu6050AccAlign;
gyro->init = mpu6050GyroInit;
gyro->read = mpu6050GyroRead;
gyro->align = mpu6050GyroAlign;
#ifdef MPU6050_DMP
mpu6050DmpInit();
#endif
return true;
}
bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale)
{
bool ack;
uint8_t sig;
delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
ack = i2cRead(MPU6050_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig);
if (!ack)
return false;
// So like, MPU6xxx has a "WHO_AM_I" register, that is used to verify the identity of the device.
// The contents of WHO_AM_I are the upper 6 bits of the MPU-60X0’s 7-bit I2C address.
// The least significant bit of the MPU-60X0’s I2C address is determined by the value of the AD0 pin. (we know that already).
// But here's the best part: The value of the AD0 pin is not reflected in this register.
if (sig != (MPU6050_ADDRESS & 0x7e))
return false;
// get chip revision + fake it if needed
if (scale)
mpuProductID = MPU6000_REV_C5; // no, seriously? why don't you make the chip ID list public.
else
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &mpuProductID);
acc->init = mpu6050AccInit;
acc->read = mpu6050AccRead;
acc->align = mpu6050AccAlign;
gyro->init = mpu6050GyroInit;
gyro->read = mpu6050GyroRead;
gyro->align = mpu6050GyroAlign;
#ifdef MPU6050_DMP
mpu6050DmpInit();
#endif
return true;
}
