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mpu6000: Separate DLPF params for MPU and ICM family of sensors

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This commit is contained in:
JochiPochi
2016-08-05 20:41:29 -04:00
committed by Lorenz Meier
parent 9f9c51eab3
commit ce27cc8326
2 changed files with 27 additions and 18 deletions
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src/drivers/mpu6000/mpu6000.cpp
+9 -9
View File
@@ -850,31 +850,31 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
choose next highest filter frequency available
*/
if (frequency_hz == 0) {
filter = BITS_DLPF_CFG_2100HZ_NOLPF;
filter = MPU_GYRO_DLPF_CFG_2100HZ_NOLPF;
} else if (frequency_hz <= 5) {
filter = BITS_DLPF_CFG_5HZ;
filter = MPU_GYRO_DLPF_CFG_5HZ;
} else if (frequency_hz <= 10) {
filter = BITS_DLPF_CFG_10HZ;
filter = MPU_GYRO_DLPF_CFG_10HZ;
} else if (frequency_hz <= 20) {
filter = BITS_DLPF_CFG_20HZ;
filter = MPU_GYRO_DLPF_CFG_20HZ;
} else if (frequency_hz <= 42) {
filter = BITS_DLPF_CFG_42HZ;
filter = MPU_GYRO_DLPF_CFG_42HZ;
} else if (frequency_hz <= 98) {
filter = BITS_DLPF_CFG_98HZ;
filter = MPU_GYRO_DLPF_CFG_98HZ;
} else if (frequency_hz <= 188) {
filter = BITS_DLPF_CFG_188HZ;
filter = MPU_GYRO_DLPF_CFG_188HZ;
} else if (frequency_hz <= 256) {
filter = BITS_DLPF_CFG_256HZ_NOLPF2;
filter = MPU_GYRO_DLPF_CFG_256HZ_NOLPF2;
} else {
filter = BITS_DLPF_CFG_2100HZ_NOLPF;
filter = MPU_GYRO_DLPF_CFG_2100HZ_NOLPF;
}
write_checked_reg(MPUREG_CONFIG, filter);
src/drivers/mpu6000/mpu6000.h
+18 -9
View File
@@ -89,6 +89,15 @@
#define MPUREG_TRIM2 0x0E
#define MPUREG_TRIM3 0x0F
#define MPUREG_TRIM4 0x10
#define MPU_GYRO_DLPF_CFG_256HZ_NOLPF2 0x00
#define MPU_GYRO_DLPF_CFG_188HZ 0x01
#define MPU_GYRO_DLPF_CFG_98HZ 0x02
#define MPU_GYRO_DLPF_CFG_42HZ 0x03
#define MPU_GYRO_DLPF_CFG_20HZ 0x04
#define MPU_GYRO_DLPF_CFG_10HZ 0x05
#define MPU_GYRO_DLPF_CFG_5HZ 0x06
#define MPU_GYRO_DLPF_CFG_2100HZ_NOLPF 0x07
#define MPU_DLPF_CFG_MASK 0x07
// Configuration bits MPU 3000 and MPU 6000 (not revised)?
#define BIT_SLEEP 0x40
@@ -105,15 +114,6 @@
#define BITS_FS_1000DPS 0x10
#define BITS_FS_2000DPS 0x18
#define BITS_FS_MASK 0x18
#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
#define BITS_DLPF_CFG_188HZ 0x01
#define BITS_DLPF_CFG_98HZ 0x02
#define BITS_DLPF_CFG_42HZ 0x03
#define BITS_DLPF_CFG_20HZ 0x04
#define BITS_DLPF_CFG_10HZ 0x05
#define BITS_DLPF_CFG_5HZ 0x06
#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
#define BITS_DLPF_CFG_MASK 0x07
#define BIT_INT_ANYRD_2CLEAR 0x10
#define BIT_RAW_RDY_EN 0x01
#define BIT_I2C_IF_DIS 0x10
@@ -124,6 +124,15 @@
// ICM2608 specific registers
#define ICMREG_ACCEL_CONFIG2 0x1D
#define ICM_ACC_DLPF_CFG_1046HZ_NOLPF 0x00
#define ICM_ACC_DLPF_CFG_218HZ 0x01
#define ICM_ACC_DLPF_CFG_99HZ 0x02
#define ICM_ACC_DLPF_CFG_44HZ 0x03
#define ICM_ACC_DLPF_CFG_21HZ 0x04
#define ICM_ACC_DLPF_CFG_10HZ 0x05
#define ICM_ACC_DLPF_CFG_5HZ 0x06
#define ICM_ACC_DLPF_CFG_420HZ 0x07
/* this is an undocumented register which
if set incorrectly results in getting a 2.7m/s/s offset
on the Y axis of the accelerometer