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bmi055/bmi088: remove TIMER_REDUCTION, sample at Nyquist rate

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This commit is contained in:
Daniel Agar
2020-05-09 11:48:41 -04:00
parent 19b2d7fe9a
commit b461066ac5
6 changed files with 4 additions and 8 deletions
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src/drivers/imu/bmi055/BMI055.hpp
-2
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@@ -48,8 +48,6 @@
#define BMI055_BUS_SPEED 10*1000*1000
#define BMI055_TIMER_REDUCTION 200
class BMI055 : public device::SPI, public I2CSPIDriver<BMI055>
{
public:
src/drivers/imu/bmi055/BMI055_accel.cpp
+1 -1
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@@ -217,7 +217,7 @@ void
BMI055_accel::start()
{
/* start polling at the specified rate */
ScheduleOnInterval((1_s / BMI055_ACCEL_DEFAULT_RATE) - BMI055_TIMER_REDUCTION, 1000);
ScheduleOnInterval((1_s / BMI055_ACCEL_DEFAULT_RATE) / 2, 1000);
}
void
src/drivers/imu/bmi055/BMI055_gyro.cpp
+1 -1
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@@ -255,7 +255,7 @@ void
BMI055_gyro::start()
{
/* start polling at the specified rate */
ScheduleOnInterval((1_s / BMI055_GYRO_DEFAULT_RATE) - BMI055_TIMER_REDUCTION, 1000);
ScheduleOnInterval((1_s / BMI055_GYRO_DEFAULT_RATE) / 2, 1000);
}
void
src/drivers/imu/bmi088/BMI088.hpp
-2
View File
@@ -48,8 +48,6 @@
#define BMI088_BUS_SPEED 10*1000*1000
#define BMI088_TIMER_REDUCTION 200
class BMI088 : public device::SPI, public I2CSPIDriver<BMI088>
{
public:
src/drivers/imu/bmi088/BMI088_accel.cpp
+1 -1
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@@ -330,7 +330,7 @@ BMI088_accel::start()
reset();
/* start polling at the specified rate */
ScheduleOnInterval((1_s / BMI088_ACCEL_DEFAULT_RATE) - BMI088_TIMER_REDUCTION, 1000);
ScheduleOnInterval((1_s / BMI088_ACCEL_DEFAULT_RATE) / 2, 1000);
}
src/drivers/imu/bmi088/BMI088_gyro.cpp
+1 -1
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@@ -266,7 +266,7 @@ void
BMI088_gyro::start()
{
/* start polling at the specified rate */
ScheduleOnInterval((1_s / BMI088_GYRO_DEFAULT_RATE) - BMI088_TIMER_REDUCTION, 1000);
ScheduleOnInterval((1_s / BMI088_GYRO_DEFAULT_RATE) / 2, 1000);
}
void