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icm42688p: fix comment about gyro and accel bits

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This really confused me.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2023-02-20 21:47:11 -05:00
committed by Daniel Agar
parent 2008a447c3
commit 9ec6a4b1d7
1 changed files with 3 additions and 2 deletions
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src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+3 -2
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@@ -642,7 +642,7 @@ void ICM42688P::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DA
accel.timestamp_sample = timestamp_sample; accel.timestamp_sample = timestamp_sample;
accel.samples = 0; accel.samples = 0;
// 18-bits of accelerometer data // 18-bits of accelerometer data, sent as 20-bits, 2 least significant bits always 0
bool scale_20bit = false; bool scale_20bit = false;
// first pass // first pass
@@ -738,7 +738,7 @@ void ICM42688P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DAT
gyro.timestamp_sample = timestamp_sample; gyro.timestamp_sample = timestamp_sample;
gyro.samples = 0; gyro.samples = 0;
// 20-bits of gyroscope data // 19-bits of gyroscope data sent as 20-bits, LSB bit is 0
bool scale_20bit = false; bool scale_20bit = false;
// first pass // first pass
@@ -775,6 +775,7 @@ void ICM42688P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DAT
scale_20bit = true; scale_20bit = true;
} }
// shift by 1 (least significant bit is always 0)
gyro.x[gyro.samples] = gyro_x / 2; gyro.x[gyro.samples] = gyro_x / 2;
gyro.y[gyro.samples] = gyro_y / 2; gyro.y[gyro.samples] = gyro_y / 2;
gyro.z[gyro.samples] = gyro_z / 2; gyro.z[gyro.samples] = gyro_z / 2;