From a39ae3c89c1f5f06ac93064d7ca1aa41d590c322 Mon Sep 17 00:00:00 2001 From: Steve Evans Date: Sat, 23 Dec 2023 12:01:50 +0000 Subject: [PATCH] Revised LPF1+LPF2 filter cutoff bandwidths from STMicro (#13239) Revised LPF1+LPF2 filter cutoff bandwidths from STmicro --- .../drivers/accgyro/accgyro_spi_lsm6dsv16x.c | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/main/drivers/accgyro/accgyro_spi_lsm6dsv16x.c b/src/main/drivers/accgyro/accgyro_spi_lsm6dsv16x.c index 3141c401ac..59d1c57d6a 100644 --- a/src/main/drivers/accgyro/accgyro_spi_lsm6dsv16x.c +++ b/src/main/drivers/accgyro/accgyro_spi_lsm6dsv16x.c @@ -321,10 +321,11 @@ #define LSM6DSV_CTRL6_LPF1_G_BW_SHIFT 4 // Gyro LPF1 + LPF2 bandwidth selection when ODR=7.68kHz -#define LSM6DSV_CTRL6_FS_G_BW_281HZ 0 -#define LSM6DSV_CTRL6_FS_G_BW_213HZ 1 -#define LSM6DSV_CTRL6_FS_G_BW_156HZ 2 -#define LSM6DSV_CTRL6_FS_G_BW_407HZ 3 +// Note that these figures were advised by STmicro tech support and differ from the datasheet +#define LSM6DSV_CTRL6_FS_G_BW_288HZ 0 +#define LSM6DSV_CTRL6_FS_G_BW_215HZ 1 +#define LSM6DSV_CTRL6_FS_G_BW_157HZ 2 +#define LSM6DSV_CTRL6_FS_G_BW_455HZ 3 #define LSM6DSV_CTRL6_FS_G_BW_102HZ 4 #define LSM6DSV_CTRL6_FS_G_BW_58HZ 5 #define LSM6DSV_CTRL6_FS_G_BW_28_8HZ 6 @@ -947,11 +948,11 @@ void lsm6dsv16xGyroInit(gyroDev_t *gyro) const extDevice_t *dev = &gyro->dev; // Set default LPF1 filter bandwidth to be as close as possible to MPU6000's 250Hz cutoff uint8_t lsm6dsv16xLPF1BandwidthOptions[GYRO_HARDWARE_LPF_COUNT] = { - [GYRO_HARDWARE_LPF_NORMAL] = LSM6DSV_CTRL6_FS_G_BW_281HZ, - [GYRO_HARDWARE_LPF_OPTION_1] = LSM6DSV_CTRL6_FS_G_BW_156HZ, - [GYRO_HARDWARE_LPF_OPTION_2] = LSM6DSV_CTRL6_FS_G_BW_213HZ, + [GYRO_HARDWARE_LPF_NORMAL] = LSM6DSV_CTRL6_FS_G_BW_288HZ, + [GYRO_HARDWARE_LPF_OPTION_1] = LSM6DSV_CTRL6_FS_G_BW_157HZ, + [GYRO_HARDWARE_LPF_OPTION_2] = LSM6DSV_CTRL6_FS_G_BW_215HZ, #ifdef USE_GYRO_DLPF_EXPERIMENTAL - [GYRO_HARDWARE_LPF_EXPERIMENTAL] = LSM6DSV_CTRL6_FS_G_BW_407HZ + [GYRO_HARDWARE_LPF_EXPERIMENTAL] = LSM6DSV_CTRL6_FS_G_BW_455HZ #endif };