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Fixed ICM20689 gyro init.

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This commit is contained in:
mikeller 2017-12-25 13:34:43 +13:00
parent be99725ee9
commit 393d3f35a6
1 changed files with 1 additions and 1 deletions
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src/main/drivers/accgyro/accgyro_spi_icm20689.c
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@ -126,7 +126,7 @@ void icm20689GyroInit(gyroDev_t *gyro)
// delay(100); // delay(100);
spiBusWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL); spiBusWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15); delay(15);
uint8_t raGyroConfigData = gyro->gyroRateKHz = INV_FSR_2000DPS << 3; uint8_t raGyroConfigData = INV_FSR_2000DPS << 3;
if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) { if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) {
// use otherwise redundant LPF value to configure FCHOICE_B // use otherwise redundant LPF value to configure FCHOICE_B
// see REGISTER 27 – GYROSCOPE CONFIGURATION in datasheet // see REGISTER 27 – GYROSCOPE CONFIGURATION in datasheet