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mpu9250: decrease sampling rate when using i2c

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DanielePettenuzzo
2018-05-16 14:47:15 +02:00
committed by Beat Küng
parent 9c8e97a1ba
commit 8b54346d52
3 changed files with 24 additions and 9 deletions
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src/drivers/imu/mpu9250/mpu9250.cpp
+11 -4
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@@ -139,11 +139,7 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
_gyro_range_scale(0.0f),
_gyro_range_rad_s(0.0f),
_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
#ifdef CONFIG_ARCH_BOARD_CRAZYFLIE
_sample_rate(200),
#else
_sample_rate(1000),
#endif
_accel_reads(perf_alloc(PC_COUNT, "mpu9250_acc_read")),
_gyro_reads(perf_alloc(PC_COUNT, "mpu9250_gyro_read")),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu9250_read")),
@@ -264,6 +260,17 @@ MPU9250::init()
use_i2c(_interface->ioctl(MPUIOCGIS_I2C, dummy));
#endif
/*
* If the MPU is using I2C we should reduce the sample rate to 200Hz and
* make the integration autoreset faster so that we integrate just one
* sample since the sampling rate is already low.
*/
if (is_i2c()) {
_sample_rate = 200;
_accel_int.set_autoreset_interval(1000000 / MPU9250_ACCEL_MAX_OUTPUT_RATE / 4);
_gyro_int.set_autoreset_interval(1000000 / MPU9250_GYRO_MAX_OUTPUT_RATE / 4);
}
int ret = probe();
if (ret != OK) {
src/drivers/imu/mpu9250/mpu9250.h
-4
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@@ -181,11 +181,7 @@
#define MPU_WHOAMI_6500 0x70
#define MPU9250_ACCEL_DEFAULT_RATE 1000
#ifdef CONFIG_ARCH_BOARD_CRAZYFLIE
#define MPU9250_ACCEL_MAX_OUTPUT_RATE 1000
#else
#define MPU9250_ACCEL_MAX_OUTPUT_RATE 280
#endif
#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define MPU9250_GYRO_DEFAULT_RATE 1000
/* rates need to be the same between accel and gyro */
src/lib/drivers/device/integrator.h
+13 -1
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2015-2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -86,6 +86,7 @@ public:
*/
matrix::Vector3f get(bool reset, uint64_t &integral_dt);
/**
* Get the current integral and reset the integrator if needed. Additionally give the
* integral over the samples differentiated by the integration time (mean filtered values).
@@ -97,6 +98,17 @@ public:
*/
matrix::Vector3f get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val);
/**
* Set auto reset interval during runtime. This won't reset the integrator.
*
* @param auto_reset_interval New reset time interval for the integrator.
*/
void set_autoreset_interval(uint64_t auto_reset_interval)
{
_auto_reset_interval = auto_reset_interval;
}
private:
uint64_t _auto_reset_interval; /**< the interval after which the content will be published
and the integrator reset, 0 if no auto-reset */