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Code Issues Wiki Activity

Allow filtering options for 32k gyro (#4825)

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This commit is contained in:
Martin Budden 2017-12-23 15:46:44 +00:00 • committed by Andrey Mironov
parent 3957666a8f
commit 86fd0bd1a1
2 changed files with 13 additions and 4 deletions
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6
src/main/drivers/accgyro/accgyro_mpu.h
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@ -157,9 +157,9 @@ enum gyro_fsr_e {
};
enum fchoice_b {
FCB_DISABLED = 0,
FCB_8800_32,
FCB_3600_32
FCB_DISABLED = 0x00,
FCB_8800_32 = 0x01,
FCB_3600_32 = 0x02
};
enum clock_sel_e {

11
src/main/drivers/accgyro/accgyro_spi_icm20689.c
View file

@ -126,7 +126,16 @@ void icm20689GyroInit(gyroDev_t *gyro)
// delay(100);
spiBusWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
uint8_t raGyroConfigData = gyro->gyroRateKHz = INV_FSR_2000DPS << 3;
if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) {
// use otherwise redundant LPF value to configure FCHOICE_B
// see REGISTER 27 – GYROSCOPE CONFIGURATION in datasheet
if (gyro->lpf==GYRO_LPF_NONE) {
raGyroConfigData |= FCB_8800_32;
} else {
raGyroConfigData |= FCB_3600_32;
}
}
spiBusWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, raGyroConfigData);
delay(15);
spiBusWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);