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mpu6000: check for default sample rate

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Also check if input variable is 0 and fix indentation
This commit is contained in:
Thomas Gubler
2015-01-28 19:19:23 +01:00
parent dedba4307d
commit a4961092af
1 changed files with 14 additions and 7 deletions
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src/drivers/mpu6000/mpu6000.cpp
+14 -7
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@@ -402,7 +402,7 @@ private:
/*
set sample rate (approximate) - 1kHz to 5Hz
*/
void _set_sample_rate(uint16_t desired_sample_rate_hz);
void _set_sample_rate(unsigned desired_sample_rate_hz);
/*
check that key registers still have the right value
@@ -794,13 +794,20 @@ MPU6000::probe()
set sample rate (approximate) - 1kHz to 5Hz, for both accel and gyro
*/
void
MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
MPU6000::_set_sample_rate(unsigned desired_sample_rate_hz)
{
uint8_t div = 1000 / desired_sample_rate_hz;
if(div>200) div=200;
if(div<1) div=1;
write_checked_reg(MPUREG_SMPLRT_DIV, div-1);
_sample_rate = 1000 / div;
if (desired_sample_rate_hz == 0 ||
desired_sample_rate_hz == GYRO_SAMPLERATE_DEFAULT ||
desired_sample_rate_hz == ACCEL_SAMPLERATE_DEFAULT)
{
desired_sample_rate_hz = MPU6000_GYRO_DEFAULT_RATE;
}
uint8_t div = 1000 / desired_sample_rate_hz;
if(div>200) div=200;
if(div<1) div=1;
write_checked_reg(MPUREG_SMPLRT_DIV, div-1);
_sample_rate = 1000 / div;
}
/*