void mpu6500GyroInit(uint8_t lpf)
{
mpuIntExtiInit();
#ifdef NAZE
// FIXME target specific code in driver code.
gpio_config_t gpio;
// MPU_INT output on rev5 hardware (PC13). rev4 was on PB13, conflicts with SPI devices
if (hse_value == 12000000) {
gpio.pin = Pin_13;
gpio.speed = Speed_2MHz;
gpio.mode = Mode_IN_FLOATING;
gpioInit(GPIOC, &gpio);
}
#endif
mpuIntExtiInit();
mpuConfiguration.write(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
delay(100);
mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x07);
delay(100);
mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
delay(100);
mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delay(15);
mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);
mpuConfiguration.write(MPU_RA_CONFIG, lpf);
delay(15);
mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
delay(100);
// Data ready interrupt configuration
#ifdef USE_MPU9250_MAG
mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
#else
mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
#endif
delay(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
#endif
}
static void mpu6050GyroInit(uint16_t lpf)
{
bool ack;
mpuIntExtiInit();
uint8_t mpuLowPassFilter = determineMPULPF(lpf);
ack = mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(100);
ack = mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
ack = mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
ack = mpuConfiguration.write(MPU_RA_CONFIG, mpuLowPassFilter); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
ack = mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
// ACC Init stuff.
// Accel scale 8g (4096 LSB/g)
ack = mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
ack = mpuConfiguration.write(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
#ifdef USE_MPU_DATA_READY_SIGNAL
ack = mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
#endif
UNUSED(ack);
}
static void mpu6050AccInit(void)
{
mpuIntExtiInit();
switch (mpuDetectionResult.resolution) {
case MPU_HALF_RESOLUTION:
acc_1G = 256 * 8;
break;
case MPU_FULL_RESOLUTION:
acc_1G = 512 * 8;
break;
}
}
void mpu6000SpiGyroInit(uint8_t lpf)
{
mpuIntExtiInit();
mpu6000AccAndGyroInit();
mpuIntExtiInit();
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, lpf);
delayMicroseconds(1);
int16_t data[3];
mpuGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
failureMode(FAILURE_GYRO_INIT_FAILED);
}
}
void mpu6000SpiGyroInit(uint8_t lpf)
{
debug[3]++;
mpuIntExtiInit();
mpu6000AccAndGyroInit(lpf);
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_FAST_CLOCK); //high speed now that we don't need to write to the slow registers
int16_t data[3];
mpuGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
failureMode(FAILURE_GYRO_INIT_FAILED);
}
}
void mpu6000SpiGyroInit(uint8_t lpf)
{
mpuIntExtiInit();
mpu6000AccAndGyroInit();
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, lpf);
delayMicroseconds(1);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST); // 18 MHz SPI clock
int16_t data[3];
mpuGyroRead(data);
if (((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) {
failureMode(FAILURE_GYRO_INIT_FAILED);
}
}
void mpu9250SpiAccInit(void)
{
mpuIntExtiInit();
acc_1G = 512 * 8;
}
void mpu6000SpiAccInit(void)
{
mpuIntExtiInit();
acc_1G = 512 * 4;
}
void mpu6000SpiAccInit(acc_t *acc)
{
mpuIntExtiInit();
acc->acc_1G = 512 * 4;
}
void mpu6500AccInit(void)
{
mpuIntExtiInit();
acc_1G = 512 * 8;
}
void mpu6500AccInit(acc_t *acc)
{
mpuIntExtiInit();
acc->acc_1G = 512 * 4;
}
