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fix MPU bugs #250

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fix MPU bugs #250

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16 changes: 8 additions & 8 deletions MicroPython_BUILD/components/micropython/esp32/modules/ak8963.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,15 +64,15 @@ def __init__(
if 0x48 != self.whoami:
raise RuntimeError("AK8963 not found in I2C bus.")

# Sensitivity adjustement values
# Sensitivity adjustment values
self._register_char(_CNTL1, _MODE_FUSE_ROM_ACCESS)
asax = self._register_char(_ASAX)
asay = self._register_char(_ASAY)
asaz = self._register_char(_ASAZ)
self._register_char(_CNTL1, _MODE_POWER_DOWN)

# Should wait atleast 100us before next mode
self._adjustement = (
self._adjustment = (
(0.5 * (asax - 128)) / 128 + 1,
(0.5 * (asay - 128)) / 128 + 1,
(0.5 * (asaz - 128)) / 128 + 1
Expand All @@ -94,10 +94,10 @@ def magnetic(self):
xyz = list(self._register_three_shorts(_HXL))
self._register_char(_ST2) # Enable updating readings again

# Apply factory axial sensitivy adjustements
xyz[0] *= self._adjustement[0]
xyz[1] *= self._adjustement[1]
xyz[2] *= self._adjustement[2]
# Apply factory axial sensitivy adjustments
xyz[0] *= self._adjustment[0]
xyz[1] *= self._adjustment[1]
xyz[2] *= self._adjustment[2]

# Apply output scale determined in constructor
so = self._so
Expand All @@ -118,8 +118,8 @@ def magnetic(self):
return tuple(xyz)

@property
def adjustement(self):
return self._adjustement
def adjustment(self):
return self._adjustment

@property
def whoami(self):
Expand Down
6 changes: 3 additions & 3 deletions MicroPython_BUILD/components/micropython/esp32/modules/mpu6500.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
_ACCEL_YOUT_H = const(0x3d)
_ACCEL_YOUT_L = const(0x3e)
_ACCEL_ZOUT_H = const(0x3f)
_ACCEL_ZOUT_L= const(0x40)
_ACCEL_ZOUT_L = const(0x40)
_TEMP_OUT_H = const(0x41)
_TEMP_OUT_L = const(0x42)
_GYRO_XOUT_H = const(0x43)
Expand Down Expand Up @@ -59,7 +59,7 @@
GYRO_FS_SEL_2000DPS = const(0b00011000)

_GYRO_SO_250DPS = 131
_GYRO_SO_500DPS = 62.5
_GYRO_SO_500DPS = 65.5
_GYRO_SO_1000DPS = 32.8
_GYRO_SO_2000DPS = 16.4

Expand All @@ -71,7 +71,7 @@
SF_G = 1
SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity
SF_DEG_S = 1
SF_RAD_S = 57.295779578552 # 1 rad/s is 57.295779578552 deg/s
SF_RAD_S = 57.295779513082 # 1 rad/s is 57.295779513082 deg/s

class MPU6500:
"""Class which provides interface to MPU6500 6-axis motion tracking device."""
Expand Down
16 changes: 8 additions & 8 deletions MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/ak8963.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,15 +64,15 @@ def __init__(
if 0x48 != self.whoami:
raise RuntimeError("AK8963 not found in I2C bus.")

# Sensitivity adjustement values
# Sensitivity adjustment values
self._register_char(_CNTL1, _MODE_FUSE_ROM_ACCESS)
asax = self._register_char(_ASAX)
asay = self._register_char(_ASAY)
asaz = self._register_char(_ASAZ)
self._register_char(_CNTL1, _MODE_POWER_DOWN)

# Should wait atleast 100us before next mode
self._adjustement = (
self._adjustment = (
(0.5 * (asax - 128)) / 128 + 1,
(0.5 * (asay - 128)) / 128 + 1,
(0.5 * (asaz - 128)) / 128 + 1
Expand All @@ -94,10 +94,10 @@ def magnetic(self):
xyz = list(self._register_three_shorts(_HXL))
self._register_char(_ST2) # Enable updating readings again

# Apply factory axial sensitivy adjustements
xyz[0] *= self._adjustement[0]
xyz[1] *= self._adjustement[1]
xyz[2] *= self._adjustement[2]
# Apply factory axial sensitivy adjustments
xyz[0] *= self._adjustment[0]
xyz[1] *= self._adjustment[1]
xyz[2] *= self._adjustment[2]

# Apply output scale determined in constructor
so = self._so
Expand All @@ -118,8 +118,8 @@ def magnetic(self):
return tuple(xyz)

@property
def adjustement(self):
return self._adjustement
def adjustment(self):
return self._adjustment

@property
def whoami(self):
Expand Down
6 changes: 3 additions & 3 deletions MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/mpu6500.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
_ACCEL_YOUT_H = const(0x3d)
_ACCEL_YOUT_L = const(0x3e)
_ACCEL_ZOUT_H = const(0x3f)
_ACCEL_ZOUT_L= const(0x40)
_ACCEL_ZOUT_L = const(0x40)
_TEMP_OUT_H = const(0x41)
_TEMP_OUT_L = const(0x42)
_GYRO_XOUT_H = const(0x43)
Expand Down Expand Up @@ -59,7 +59,7 @@
GYRO_FS_SEL_2000DPS = const(0b00011000)

_GYRO_SO_250DPS = 131
_GYRO_SO_500DPS = 62.5
_GYRO_SO_500DPS = 65.5
_GYRO_SO_1000DPS = 32.8
_GYRO_SO_2000DPS = 16.4

Expand All @@ -71,7 +71,7 @@
SF_G = 1
SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity
SF_DEG_S = 1
SF_RAD_S = 57.295779578552 # 1 rad/s is 57.295779578552 deg/s
SF_RAD_S = 57.295779513082 # 1 rad/s is 57.295779513082 deg/s

class MPU6500:
"""Class which provides interface to MPU6500 6-axis motion tracking device."""
Expand Down