void init_gyro() {
lib_i2c_writereg(MPU6050_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
lib_timers_delaymilliseconds(5);
lib_i2c_writereg(MPU6050_ADDRESS, 0x6B, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
lib_i2c_writereg(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
lib_i2c_writereg(MPU6050_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
}
void initgyro(void)
{
lib_i2c_writereg(MPU3050_ADDRESS, 0x3E, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
lib_timers_delaymilliseconds(5);
lib_i2c_writereg(MPU3050_ADDRESS, 0x3E, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
lib_i2c_writereg(MPU3050_ADDRESS, 0x16, MPU3050_DLPF_CFG + 0x18); // Gyro CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => GYRO bandwidth = 256Hz); -- FS_SEL = 3: Full scale set to 2000 deg/sec
lib_i2c_writereg(MPU3050_ADDRESS, 0x15, SAMPLE_RATE_DIVISOR);
}
void init_gyro() {
lib_timers_delaymilliseconds(100);
lib_i2c_writereg(ITG3200_ADDRESS, 0x3E, 0x80); //register: Power Management -- value: reset device
lib_timers_delaymilliseconds(5);
lib_i2c_writereg(ITG3200_ADDRESS, 0x16, 0x18 + ITG3200_DLPF_CFG); //register: DLPF_CFG - low pass filter configuration
lib_timers_delaymilliseconds(5);
lib_i2c_writereg(ITG3200_ADDRESS, 0x3E, 0x03); //register: Power Management -- value: PLL with Z Gyro reference
lib_timers_delaymilliseconds(100);
}
void initgyro(void)
{
// Resetting the MPU6050 does not work for some reason.
// But it is already in default mode at power up, so there is no need to reset it anyways
//lib_i2c_writereg(MPU6050_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
//lib_timers_delaymilliseconds(10);
lib_i2c_writereg(MPU6050_ADDRESS, 0x6B, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
lib_i2c_writereg(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
lib_i2c_writereg(MPU6050_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
}
void initacc(void)
{
lib_timers_delaymilliseconds(10);
// Mode register: standby mode
lib_i2c_writereg( MC3210_ADDRESS, 0x07, 0x03);
// INTEN register: disable interrupts
lib_i2c_writereg( MC3210_ADDRESS, 0x06, 0x00);
// OUTCFG register:
// Select +/- 8g range, 14-bit resolution
// Low-pass filter set to 64 Hz bandwidth
// (GINT interrupt updates at LPF bandwidth setting)
lib_i2c_writereg( MC3210_ADDRESS, 0x20, 0x8F + ACC_LOW_PASS_FILTER);
// Mode register: wake mode
lib_i2c_writereg( MC3210_ADDRESS, 0x07, 0x01);
}
void initacc()
{
lib_timers_delaymilliseconds(10);
//default range 2G: 1G = 4096 unit.
lib_i2c_writereg(BMA180_ADDRESS,0x0D,1<<4); // register: ctrl_reg0 -- value: set bit ee_w to 1 to enable writing
lib_timers_delaymilliseconds(5);
unsigned char control = lib_i2c_readreg(BMA180_ADDRESS, 0x20);
control = control & 0x0F; // save tcs register
control = control | (0x01 << 4); // register: bw_tcs reg: bits 4-7 to set bw -- value: set low pass filter to 20Hz
lib_i2c_writereg(BMA180_ADDRESS, 0x20, control);
lib_timers_delaymilliseconds(5);
control = lib_i2c_readreg(BMA180_ADDRESS, 0x30);
control = control & 0xFC; // save tco_z register
control = control | 0x00; // set mode_config to 0
lib_i2c_writereg(BMA180_ADDRESS, 0x30, control);
lib_timers_delaymilliseconds(5);
control = lib_i2c_readreg(BMA180_ADDRESS, 0x35);
control = control & 0xF1; // save offset_x and smp_skip register
control = control | (0x05 << 1); // set range to 8G
lib_i2c_writereg(BMA180_ADDRESS, 0x35, control);
lib_timers_delaymilliseconds(5);
}
void initacc()
{
lib_i2c_writereg(MPU6050_ADDRESS, 0x1C, 0x10); //ACCEL_CONFIG -- AFS_SEL=2 (Full Scale = +/-8G) ; ACCELL_HPF=0 //note something is wrong in the spec.
}
