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Re: [Paparazzi-devel] low cost imus with mpu6050 from drotek

From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] low cost imus with mpu6050 from drotek
Date: Thu, 15 Nov 2012 01:19:46 +0100
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)

the i2c code for the mpu6000 is the same as for the mp6050 expect one byte.
For the lpc2148 a driver for SPI interface to the aspirin interface is running and will be pushed soon. You have to dis activate the BMP085 and magnetometer part by using the slave i2c port
in the aspirin driver to use only the MPU60X0.
You can find the code in  aspirin2_i2c.c
The drotek IMU use the alternative mpu6050 adress (the second byte to change).
The drotek 17 Euro IMU is running well for normal  wing aircraft (60Hz).
For multirotor the code has to be changed to fit best  with 512 Hz.
The transfer of 22Bytes with 400KHz clock needs about 0.55ms of the 2ms period.



Eduardo schrieb:

Sergey, where can i get the code for i2c mpu6000 ?

On 21/10/2012 07:55, Sergey Krukowski wrote:

The aspirin2 uses MPU6000 sensor with SPI bus, however the MPU6050 has only I2C bus. I've done the MPU6050 I2C driver for the Krooz autopilot, however it works only for STM32 architecture for now. I'll push it on my git soon.

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