Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 04:45:24 +03:00
Code Issues Wiki Activity

BMI160/270: Fix acc aliasing

Browse source
This commit is contained in:
KarateBrot 2022-10-16 09:55:50 +02:00
parent 96d79184be
commit c70c390a99
2 changed files with 15 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

13
src/main/drivers/accgyro/accgyro_spi_bmi160.c
View file

@ -90,6 +90,10 @@
#define BMI160_VAL_GYRO_CONF_BWP_OSR4 0x00 #define BMI160_VAL_GYRO_CONF_BWP_OSR4 0x00
#define BMI160_VAL_GYRO_CONF_BWP_OSR2 0x10 #define BMI160_VAL_GYRO_CONF_BWP_OSR2 0x10
#define BMI160_VAL_GYRO_CONF_BWP_NORM 0x20 #define BMI160_VAL_GYRO_CONF_BWP_NORM 0x20
#define BMI160_VAL_ACC_CONF_BWP_OSR4 0x00
#define BMI160_VAL_ACC_CONF_BWP_OSR2 0x10
#define BMI160_VAL_ACC_CONF_BWP_NORM 0x20
#define BMI160_VAL_ACC_CONF_US_HP 0x00
// Need to see at least this many interrupts during initialisation to confirm EXTI connectivity // Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
#define GYRO_EXTI_DETECT_THRESHOLD 1000 #define GYRO_EXTI_DETECT_THRESHOLD 1000
@ -157,10 +161,13 @@ static uint8_t getBmiOsrMode(void)
return BMI160_VAL_GYRO_CONF_BWP_OSR2; return BMI160_VAL_GYRO_CONF_BWP_OSR2;
case GYRO_HARDWARE_LPF_OPTION_2: case GYRO_HARDWARE_LPF_OPTION_2:
return BMI160_VAL_GYRO_CONF_BWP_NORM; return BMI160_VAL_GYRO_CONF_BWP_NORM;
#ifdef USE_GYRO_DLPF_EXPERIMENTAL
case GYRO_HARDWARE_LPF_EXPERIMENTAL: case GYRO_HARDWARE_LPF_EXPERIMENTAL:
return BMI160_VAL_GYRO_CONF_BWP_NORM; return BMI160_VAL_GYRO_CONF_BWP_NORM;
#endif
default:
return BMI160_VAL_GYRO_CONF_BWP_OSR4;
} }
return 0;
} }
/** /**
@ -182,8 +189,8 @@ static int32_t BMI160_Config(const extDevice_t *dev)
} }
// Set odr and ranges // Set odr and ranges
// Set acc_us = 0 acc_bwp = 0b010 so only the first filter stage is used // Set acc_us = 0 & acc_bwp = 0b001 for high performance and OSR2 mode
spiWriteReg(dev, BMI160_REG_ACC_CONF, 0x20 | BMI160_ODR_800_Hz); spiWriteReg(dev, BMI160_REG_ACC_CONF, BMI160_VAL_ACC_CONF_US_HP | BMI160_VAL_ACC_CONF_BWP_OSR2 | BMI160_ODR_800_Hz);
delay(1); delay(1);
spiWriteReg(dev, BMI160_REG_GYR_CONF, getBmiOsrMode() | BMI160_ODR_3200_Hz); spiWriteReg(dev, BMI160_REG_GYR_CONF, getBmiOsrMode() | BMI160_ODR_3200_Hz);

7
src/main/drivers/accgyro/accgyro_spi_bmi270.c
View file

@ -105,7 +105,7 @@ typedef enum {
BMI270_VAL_PWR_CONF = 0x02, // disable advanced power save, enable FIFO self-wake BMI270_VAL_PWR_CONF = 0x02, // disable advanced power save, enable FIFO self-wake
BMI270_VAL_ACC_CONF_ODR800 = 0x0B, // set acc sample rate to 800hz BMI270_VAL_ACC_CONF_ODR800 = 0x0B, // set acc sample rate to 800hz
BMI270_VAL_ACC_CONF_ODR1600 = 0x0C, // set acc sample rate to 1600hz BMI270_VAL_ACC_CONF_ODR1600 = 0x0C, // set acc sample rate to 1600hz
BMI270_VAL_ACC_CONF_BWP = 0x02, // set acc filter in normal mode BMI270_VAL_ACC_CONF_BWP = 0x01, // set acc filter in osr2 mode (only in high performance mode)
BMI270_VAL_ACC_CONF_HP = 0x01, // set acc in high performance mode BMI270_VAL_ACC_CONF_HP = 0x01, // set acc in high performance mode
BMI270_VAL_ACC_RANGE_8G = 0x02, // set acc to 8G full scale BMI270_VAL_ACC_RANGE_8G = 0x02, // set acc to 8G full scale
BMI270_VAL_ACC_RANGE_16G = 0x03, // set acc to 16G full scale BMI270_VAL_ACC_RANGE_16G = 0x03, // set acc to 16G full scale
@ -196,10 +196,13 @@ static uint8_t getBmiOsrMode(void)
return BMI270_VAL_GYRO_CONF_BWP_OSR2; return BMI270_VAL_GYRO_CONF_BWP_OSR2;
case GYRO_HARDWARE_LPF_OPTION_2: case GYRO_HARDWARE_LPF_OPTION_2:
return BMI270_VAL_GYRO_CONF_BWP_NORM; return BMI270_VAL_GYRO_CONF_BWP_NORM;
#ifdef USE_GYRO_DLPF_EXPERIMENTAL
case GYRO_HARDWARE_LPF_EXPERIMENTAL: case GYRO_HARDWARE_LPF_EXPERIMENTAL:
return BMI270_VAL_GYRO_CONF_BWP_NORM; return BMI270_VAL_GYRO_CONF_BWP_NORM;
#endif
default:
return BMI270_VAL_GYRO_CONF_BWP_OSR4;
} }
return 0;
} }
static void bmi270Config(gyroDev_t *gyro) static void bmi270Config(gyroDev_t *gyro)