From b461066ac529dc45c0462685a42b6ac68c3398f7 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 9 May 2020 11:48:41 -0400
Subject: [PATCH] bmi055/bmi088: remove TIMER_REDUCTION, sample at Nyquist rate

---
 src/drivers/imu/bmi055/BMI055.hpp       | 2 --
 src/drivers/imu/bmi055/BMI055_accel.cpp | 2 +-
 src/drivers/imu/bmi055/BMI055_gyro.cpp  | 2 +-
 src/drivers/imu/bmi088/BMI088.hpp       | 2 --
 src/drivers/imu/bmi088/BMI088_accel.cpp | 2 +-
 src/drivers/imu/bmi088/BMI088_gyro.cpp  | 2 +-
 6 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/src/drivers/imu/bmi055/BMI055.hpp b/src/drivers/imu/bmi055/BMI055.hpp
index 66ada4c7bb..7519afc742 100644
--- a/src/drivers/imu/bmi055/BMI055.hpp
+++ b/src/drivers/imu/bmi055/BMI055.hpp
@@ -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:
diff --git a/src/drivers/imu/bmi055/BMI055_accel.cpp b/src/drivers/imu/bmi055/BMI055_accel.cpp
index 6a62e27361..27ff3e518b 100644
--- a/src/drivers/imu/bmi055/BMI055_accel.cpp
+++ b/src/drivers/imu/bmi055/BMI055_accel.cpp
@@ -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
diff --git a/src/drivers/imu/bmi055/BMI055_gyro.cpp b/src/drivers/imu/bmi055/BMI055_gyro.cpp
index 8b2a66c4e6..2f795b5b94 100644
--- a/src/drivers/imu/bmi055/BMI055_gyro.cpp
+++ b/src/drivers/imu/bmi055/BMI055_gyro.cpp
@@ -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
diff --git a/src/drivers/imu/bmi088/BMI088.hpp b/src/drivers/imu/bmi088/BMI088.hpp
index 4285adac51..df02abb6ba 100644
--- a/src/drivers/imu/bmi088/BMI088.hpp
+++ b/src/drivers/imu/bmi088/BMI088.hpp
@@ -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:
diff --git a/src/drivers/imu/bmi088/BMI088_accel.cpp b/src/drivers/imu/bmi088/BMI088_accel.cpp
index 5ed50020ea..6cf164ef35 100644
--- a/src/drivers/imu/bmi088/BMI088_accel.cpp
+++ b/src/drivers/imu/bmi088/BMI088_accel.cpp
@@ -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);
 
 }
 
diff --git a/src/drivers/imu/bmi088/BMI088_gyro.cpp b/src/drivers/imu/bmi088/BMI088_gyro.cpp
index 59953f3be5..b01f92692a 100644
--- a/src/drivers/imu/bmi088/BMI088_gyro.cpp
+++ b/src/drivers/imu/bmi088/BMI088_gyro.cpp
@@ -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