ChibiOS Free Embedded RTOS

Sorry for late reply. Offset is correct 36.5323. So your final equation is

Temperature = (raw output/340) + 36.5323.

Here when you put raw output = -521 you will get temperature = 35 degree

Let me know how accurate is temperature sensor of MPU.

As per datasheet, Sensitivity of sensor is 340 LSB/degree and output at 35 degree is -521. So your formula is,

Temperature (in Degree) = ( raw temperature output / 340) + offset

Where, offset = 35 + (521/340) = 36.5323

Can you post your codes where you are converting data? Also you can check accelerometer outputs in different orientations.

You are right. STM32 has plenty of PWM. I was just trying to optimize further so that using only one channel you can run more servo, that way you have rest of pins available for other functionality as well.

ok...can do one thing... declare some default values which will be used...so no need to initialize them.

Any comments about code??

Hi Giovanni,

Finally I was able to capture input on all 6 pins (PA6, PA7, PC6, PC7, PB14 and PB15). Also I am able to generate six pwm output as well (PA10, PB0, PB1, PB5, PB11 and PC8). I have modified icu_lld.c and icu_lld.h (os\hal\STM32) to include TIM12, 13 and 14. Also have changed ...

Hi Giovanni,

I tweaked icu_lld.c to include TIM13 and 14 and like you said it was very easy. Got it working...although there are some issues in there but its generating interrupt. Need to do some more tweaks as well....working on that.....thanks a lot....

Sapan

Yup I have used this device via LPC2138 as well as Discovery board. On LPC2138 I programmed it using basic code (no RTOS) but used similar method over there and it worked fine. Discovery board I am using ChibiOS. I have used both MPU6000 and MPU6050 gives same outputs.

Thats weird, it should work fine. I am using eclipse + arm-none-eabi-gdb toolchain to compile ChibiOS. Btw I am using part of your BMP085 sample code to interface with BMP180. Will post that once commenting and cleaning up my part.