bool mpu6000SpiGyroDetect(const mpu6000Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
{
mpu6000Config = configToUse;
if (!mpu6000SpiDetect()) {
return false;
}
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
mpu6000AccAndGyroInit();
uint8_t mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
int16_t data[3];
// default lpf is 42Hz
if (lpf == 256)
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
else if (lpf >= 188)
mpuLowPassFilter = BITS_DLPF_CFG_188HZ;
else if (lpf >= 98)
mpuLowPassFilter = BITS_DLPF_CFG_98HZ;
else if (lpf >= 42)
mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
else if (lpf >= 20)
mpuLowPassFilter = BITS_DLPF_CFG_20HZ;
else if (lpf >= 10)
mpuLowPassFilter = BITS_DLPF_CFG_10HZ;
else if (lpf > 0)
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
else
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Determine the new sample divider
mpu6000WriteRegister(MPU6000_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
delayMicroseconds(1);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, mpuLowPassFilter);
delayMicroseconds(1);
mpu6000SpiGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
return false;
}
gyro->init = mpu6000SpiGyroInit;
gyro->read = mpu6000SpiGyroRead;
gyro->intStatus = checkMPU6000DataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
//gyro->scale = (4.0f / 16.4f) * (M_PIf / 180.0f) * 0.000001f;
delay(100);
return true;
}
bool mpu6000SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
{
if (!mpu6000SpiDetect()) {
return false;
}
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
mpu6000AccAndGyroInit();
uint8_t mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
int16_t data[3];
// default lpf is 42Hz
switch (lpf) {
case 256:
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
break;
case 188:
mpuLowPassFilter = BITS_DLPF_CFG_188HZ;
break;
case 98:
mpuLowPassFilter = BITS_DLPF_CFG_98HZ;
break;
default:
case 42:
mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
break;
case 20:
mpuLowPassFilter = BITS_DLPF_CFG_20HZ;
break;
case 10:
mpuLowPassFilter = BITS_DLPF_CFG_10HZ;
break;
case 5:
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
break;
case 0:
mpuLowPassFilter = BITS_DLPF_CFG_2100HZ_NOLPF;
break;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, mpuLowPassFilter);
delayMicroseconds(1);
mpu6000SpiGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
return false;
}
gyro->init = mpu6000SpiGyroInit;
gyro->read = mpu6000SpiGyroRead;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
//gyro->scale = (4.0f / 16.4f) * (M_PIf / 180.0f) * 0.000001f;
delay(100);
return true;
}
