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Set filter frequency for hardware and software in parallel, always do so in the same order

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Lorenz Meier
2014-09-30 10:05:39 +02:00
parent 3e1eec5906
commit 8ced6bb49b
1 changed files with 4 additions and 2 deletions
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src/drivers/mpu6000/mpu6000.cpp
+4 -2
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@@ -910,12 +910,14 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
// adjust filters // adjust filters
float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq(); float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f/ticks; float sample_rate = 1.0e6f/ticks;
_set_dlpf_filter(cutoff_freq_hz);
_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq(); float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
_set_dlpf_filter(cutoff_freq_hz_gyro);
_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
@@ -1051,11 +1053,11 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
case GYROIOCGLOWPASS: case GYROIOCGLOWPASS:
return _gyro_filter_x.get_cutoff_freq(); return _gyro_filter_x.get_cutoff_freq();
case GYROIOCSLOWPASS: case GYROIOCSLOWPASS:
// set hardware filtering
_set_dlpf_filter(arg);
_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
// set hardware filtering
_set_dlpf_filter(arg);
return OK; return OK;
case GYROIOCSSCALE: case GYROIOCSSCALE: