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This commit is contained in:
Daniel Agar
2023-02-13 21:22:01 -05:00
parent 3c8a35fef7
commit 4d846c1208
2 changed files with 16 additions and 8 deletions
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src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+3 -3
View File
@@ -364,15 +364,15 @@ void ICM42688P::ConfigureFIFOWatermark(uint8_t samples)
for (auto &r : _register_bank0_cfg) {
switch (r.reg) {
case Register::BANK_0::FIFO_CONFIG2:
// FIFO_WM[7:0] FIFO_CONFIG2
// FIFO_CONFIG2 7:0 FIFO_WM[7:0]
r.set_bits = fifo_watermark_threshold & 0xFF;
r.clear_bits = ~r.set_bits;
break;
case Register::BANK_0::FIFO_CONFIG3:
// FIFO_WM[11:8] FIFO_CONFIG3
// FIFO_CONFIG3 3:0 FIFO_WM[11:8]
r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
r.clear_bits = ~r.set_bits;
r.clear_bits = ~r.set_bits & 0x0F;
break;
default:
src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp
+13 -5
View File
@@ -299,10 +299,12 @@ enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
GYRO_NF_DIS = Bit0, // 1: Disable Notch Filter
};
// PIN9_FUNCTION
enum PIN9_FUNCTION_BIT : uint8_t {
FSYNC_PIN9 = Bit1,
CLKIN = Bit2,
// GYRO_CONFIG_STATIC3
enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
// 5:0 GYRO_AAF_DELT
// 585 Hz = 13 (0b00'1101)
GYRO_AAF_DELT_585HZ_SET = Bit3 | Bit2 | Bit0,
GYRO_AAF_DELT_585HZ_CLEAR = Bit5 | Bit4 | Bit1,
};
// GYRO_CONFIG_STATIC4
@@ -341,7 +343,13 @@ enum INTF_CONFIG5_BIT : uint8_t {
// ACCEL_CONFIG_STATIC2
enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
ACCEL_AAF_DIS = Bit0,
// 6:1 ACCEL_AAF_DELT
// 585 Hz = 13 (0b00'1101)
ACCEL_AAF_DELT_585HZ_SET = Bit4 | Bit3 | Bit1,
ACCEL_AAF_DELT_585HZ_CLEAR = Bit6 | Bit5 | Bit2,
// 0 ACCEL_AAF_DIS
ACCEL_AAF_DIS = Bit0, // 0: Enable accelerometer anti-aliasing filter (default)
};
// ACCEL_CONFIG_STATIC3