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Store the configuration on the SD card

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This commit is contained in:
Gavan Fantom
2015-08-13 14:10:09 +00:00
parent 53a8072424
commit d0f9f46f9c
16 changed files with 271 additions and 26 deletions
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25
mpu6050.c
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@@ -14,6 +14,7 @@
#include "timer.h"
#include "panic.h"
#include "log.h"
#include "config.h"
i2c_result mpu6050_result;
unsigned int mpu6050_generation;
@@ -51,12 +52,13 @@ struct i2c_transaction mpu6050_whoami_transaction2 = {
NULL
};
/* Accelerometer scaling */
#define AFS_SEL 2
#define FS_SEL config.mpu6050.gyro_sensitivity
#define AFS_SEL config.mpu6050.accel_sensitivity
unsigned char mpu6050_init_command[] = {0x6B, 0x01};
unsigned char mpu6050_accel_init_command[] = {0x1c, (AFS_SEL<<3)};
unsigned char mpu6050_gyro_init_command[] = {0x1b, 0 /* (FS_SEL<<3) to be filled in at runtime */};
unsigned char mpu6050_accel_init_command[] = {0x1c, 0 /* (AFS_SEL<<3) to be filled in at runtime */};
unsigned char mpu6050_bypass_init_command[] = {0x37, 0x02};
struct i2c_transaction mpu6050_bypass_init_transaction = {
@@ -77,13 +79,22 @@ struct i2c_transaction mpu6050_accel_init_transaction = {
&mpu6050_bypass_init_transaction
};
struct i2c_transaction mpu6050_gyro_init_transaction = {
(0x68 << 1) + 0, /* write */
2,
mpu6050_gyro_init_command,
&mpu6050_result,
EVENT_MPU6050_I2C_COMPLETE,
&mpu6050_accel_init_transaction
};
struct i2c_transaction mpu6050_init_transaction = {
(0x68 << 1) + 0, /* write */
2,
mpu6050_init_command,
&mpu6050_result,
EVENT_MPU6050_I2C_COMPLETE,
&mpu6050_accel_init_transaction
&mpu6050_gyro_init_transaction
};
unsigned char mpu6050_sample_command[] = {0x3B};
@@ -114,6 +125,10 @@ bool mpu6050_init(void)
{
event_register(EVENT_MPU6050_I2C_COMPLETE, mpu6050_event_handler);
/* Fill in sensitivity accordingly, as it's not known at compile time */
mpu6050_gyro_init_command[1] = FS_SEL << 3;
mpu6050_accel_init_command[1] = AFS_SEL << 3;
if (!i2c_start_transaction(&mpu6050_init_transaction))
return FALSE;
while (i2c_busy()) ;
@@ -133,7 +148,7 @@ bool mpu6050_init(void)
/* A step of 131 = 1 degree. */
/* Overall, this is LSB / rad/s */
#define GYRO_STEP (131.0 / DEG_TO_RAD)
#define GYRO_STEP (131.0 / DEG_TO_RAD / (float)(1<<FS_SEL))
/* LSB / degree C */
#define TEMP_STEP 340.0