Code: Alles auswählen

#if defined(FREEIMUv043)
  #define MPU6050
  #define HMC5883
  #define MS561101BA
  #define ACC_ORIENTATION(X, Y, Z)  {accADC[ROLL]  = -X; accADC[PITCH]  = -Y; accADC[YAW]  =  Z;}
  #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] =  Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
  #define MAG_ORIENTATION(X, Y, Z)  {magADC[ROLL]  =  X; magADC[PITCH]  =  Y; magADC[YAW]  = -Z;}
  // MAG ist nich am MPU6050 angeschlossen --> I2C Bypass Mode ausschalten!!
  //#define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050
  #undef INTERNAL_I2C_PULLUPS
#endif

Code: Alles auswählen

// ************************************************************************************************************
// I2C Gyroscope and Accelerometer MPU6050
// ************************************************************************************************************
#if defined(MPU6050)

void Gyro_init() {
  TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
  i2c_writeReg(MPU6050_ADDRESS, 0x6B, 0x80);             //PWR_MGMT_1    -- DEVICE_RESET 1
  delay(5);
  i2c_writeReg(MPU6050_ADDRESS, 0x6B, 0x03);             //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
  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)
  i2c_writeReg(MPU6050_ADDRESS, 0x1B, 0x18);             //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
  // enable I2C bypass for AUX I2C
  //#if defined(MAG)
  //  i2c_writeReg(MPU6050_ADDRESS, 0x37, 0x02);           //INT_PIN_CFG   -- INT_LEVEL=0 ; INT_OPEN=0 ; LATCH_INT_EN=0 ; INT_RD_CLEAR=0 ; FSYNC_INT_LEVEL=0 ; FSYNC_INT_EN=0 ; I2C_BYPASS_EN=1 ; CLKOUT_EN=0
  //#endif*/
}