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mpu6000 driver support for setting rate

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This commit is contained in:
sergeil 2013-05-31 11:44:20 +02:00
parent 27ee36b204
commit 496127ca45
1 changed files with 24 additions and 6 deletions
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30
src/drivers/mpu6000/mpu6000.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (C) 2012 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
@ -272,6 +272,11 @@ private:
*/
void _set_dlpf_filter(uint16_t frequency_hz);
/*
set sample rate (approximate) - 1kHz to 5Hz
*/
void _set_sample_rate(uint16_t desired_sample_rate_hz);
};
/**
@ -378,7 +383,8 @@ MPU6000::init()
up_udelay(1000);
// SAMPLE RATE
write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
//write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
_set_sample_rate(200); // default sample rate = 200Hz
usleep(1000);
// FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter)
@ -493,6 +499,18 @@ MPU6000::probe()
return -EIO;
}
/*
set sample rate (approximate) - 1kHz to 5Hz, for both accel and gyro
*/
void
MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
{
uint8_t div = 1000 / desired_sample_rate_hz;
if(div>200) div=200;
if(div<1) div=1;
write_reg(MPUREG_SMPLRT_DIV, div-1);
}
/*
set the DLPF filter frequency. This affects both accel and gyro.
*/
@ -644,8 +662,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCSSAMPLERATE:
case ACCELIOCGSAMPLERATE:
/* XXX not implemented */
return -EINVAL;
_set_sample_rate(arg);
return OK;
case ACCELIOCSLOWPASS:
case ACCELIOCGLOWPASS:
@ -702,8 +720,8 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
case GYROIOCSSAMPLERATE:
case GYROIOCGSAMPLERATE:
/* XXX not implemented */
return -EINVAL;
_set_sample_rate(arg);
return OK;
case GYROIOCSLOWPASS:
case GYROIOCGLOWPASS: