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Allow setting of FCHOICE_B in 9250 gyro

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This commit is contained in:
Martin Budden 2017-12-23 18:21:32 +00:00
parent ff0628193f
commit d656f81b50
1 changed files with 10 additions and 1 deletions
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11
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
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@ -143,7 +143,16 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
//Fchoice_b defaults to 00 which makes fchoice 11
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 = 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;
}
}
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_GYRO_CONFIG, raGyroConfigData);
if (gyro->lpf == 4) {