From 9fc43d535771d46b57dcce7a3bab1b5733830335 Mon Sep 17 00:00:00 2001 From: "timecop@gmail.com" Date: Mon, 8 Oct 2012 13:50:48 +0000 Subject: [PATCH] fixed MPU6050 sig stuff, d'oh added sensor axis orientation stuff to cli... not the most optimal way but surely one that uses least code, lol! git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@228 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- obj/baseflight.hex | 3468 ++++++++++++++++++++++---------------------- src/cli.c | 9 + src/drv_mpu6050.c | 3 +- 3 files changed, 1753 insertions(+), 1727 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 90bb4df6b..b39dc835d 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:10000000081E002051870008918700089F1F0008E4 -:10001000958700089787000899870008000000006E -:100020000000000000000000000000009B870008A6 -:100030009D870008000000009F87000851690008A4 -:10004000A3870008A3870008A3870008A3870008E8 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+++ b/src/cli.c @@ -139,6 +139,15 @@ const clivalue_t valueTable[] = { { "gimbal_roll_min", VAR_UINT16, &cfg.gimbal_roll_min, 100, 3000 }, { "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 }, { "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 }, + { "align_gyro_x", VAR_INT8, &cfg.align[ALIGN_GYRO][0], -3, 3 }, + { "align_gyro_y", VAR_INT8, &cfg.align[ALIGN_GYRO][1], -3, 3 }, + { "align_gyro_z", VAR_INT8, &cfg.align[ALIGN_GYRO][2], -3, 3 }, + { "align_acc_x", VAR_INT8, &cfg.align[ALIGN_ACCEL][0], -3, 3 }, + { "align_acc_y", VAR_INT8, &cfg.align[ALIGN_ACCEL][1], -3, 3 }, + { "align_acc_z", VAR_INT8, &cfg.align[ALIGN_ACCEL][2], -3, 3 }, + { "align_mag_x", VAR_INT8, &cfg.align[ALIGN_MAG][0], -3, 3 }, + { "align_mag_y", VAR_INT8, &cfg.align[ALIGN_MAG][1], -3, 3 }, + { "align_mag_z", VAR_INT8, &cfg.align[ALIGN_MAG][2], -3, 3 }, { "acc_hardware", VAR_UINT8, &cfg.acc_hardware, 0, 3 }, { "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 }, { "acc_lpf_for_velocity", VAR_UINT8, &cfg.acc_lpf_for_velocity, 1, 250 }, diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c index d5b6383d0..e7c644df9 100644 --- a/src/drv_mpu6050.c +++ b/src/drv_mpu6050.c @@ -160,8 +160,7 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint8_t scale) // 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. - sig &= 0x7e; - if (sig != MPU6050_ADDRESS) + if (sig != (MPU6050_ADDRESS & 0x7e)) return false; // get chip revision + fake it if needed