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fix wrong acc_i16_shift values

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William Clark 2024-01-10 01:03:54 +00:00
parent a627f657d8
commit b7be8b093f
2 changed files with 8 additions and 5 deletions
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5
main.c
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@ -26,6 +26,9 @@ int main() {
exit(1); exit(1);
} }
mpu6050.cfg.gyro = MPU6050_GYRO_FS_2000;
mpu6050.cfg.acc = MPU6050_ACC_FS_16G;
/* reset all signal paths */ /* reset all signal paths */
/* enable gyro, acc and temp */ /* enable gyro, acc and temp */
if (i2c_write(REG_SIGNAL_PATH_RESET, 0x07)) { if (i2c_write(REG_SIGNAL_PATH_RESET, 0x07)) {
@ -60,7 +63,7 @@ int main() {
exit(1); exit(1);
} }
acc = MPU6050_ACC_FS_2G << 3; acc = MPU6050_ACC_FS_16G << 3;
if (i2c_write(REG_ACCEL_CONFIG, acc)) { if (i2c_write(REG_ACCEL_CONFIG, acc)) {
exit(1); exit(1);
} }

8
mpu6050.c
View File

@ -50,7 +50,7 @@ int mpu6050_read_acc(mpu6050_t *mpu6050) {
shift = acc_i16_shift(mpu6050->cfg.acc); shift = acc_i16_shift(mpu6050->cfg.acc);
err |= mpu6050->dev.read(REG_ACCEL_XOUT_H, data, 6); err |= mpu6050->dev.read(REG_ACCEL_XOUT_H, data, 6);
mpu6050->acc.x = ((int16_t)(data[0] << 8 | data[1])) >> shift; mpu6050->acc.x = (int16_t)(data[0] << 8 | data[1]) >> shift;
mpu6050->acc.y = (int16_t)(data[2] << 8 | data[3]) >> shift; mpu6050->acc.y = (int16_t)(data[2] << 8 | data[3]) >> shift;
mpu6050->acc.z = (int16_t)(data[4] << 8 | data[5]) >> shift; mpu6050->acc.z = (int16_t)(data[4] << 8 | data[5]) >> shift;
@ -60,10 +60,10 @@ int mpu6050_read_acc(mpu6050_t *mpu6050) {
/* How much to shift down an i16 accel sample depending on full-scale mode set */ /* How much to shift down an i16 accel sample depending on full-scale mode set */
static uint8_t acc_i16_shift(uint8_t fs) { static uint8_t acc_i16_shift(uint8_t fs) {
switch(fs) { switch(fs) {
case MPU6050_ACC_FS_2G: return 2; /* 16384 LSb / g */ case MPU6050_ACC_FS_2G: return 4; /* 16384 LSb / g */
case MPU6050_ACC_FS_4G: return 3; /* 8192 LSb / g */ case MPU6050_ACC_FS_4G: return 3; /* 8192 LSb / g */
case MPU6050_ACC_FS_8G: return 4; /* 4096 LSb / g */ case MPU6050_ACC_FS_8G: return 2; /* 4096 LSb / g */
case MPU6050_ACC_FS_16G: return 5; /* 2048 LSb / g */ case MPU6050_ACC_FS_16G: return 1; /* 2048 LSb / g */
default: return 0; default: return 0;
} }
} }