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TAP:Added i2c speed setting to init

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This commit is contained in:
David Sidrane
2016-08-07 11:15:48 +02:00
committed by Lorenz Meier
parent e8ae0fe13c
commit c5e11cd16f
5 changed files with 97 additions and 9 deletions
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src/drivers/mpu6000/mpu6000.cpp
+7 -9
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@@ -99,11 +99,14 @@
sample rate and then throw away duplicates by comparing
accelerometer values. This time reduction is enough to cope with
worst case timing jitter due to other timers
I2C bus is running at 100 kHz Transaction time is 2.163Ms
I2C bus is running at 400 kHz (304 kHz acutal) Transaction time
is 583 uS
*/
#define MPU6000_TIMER_REDUCTION 200
#define MPU6000_CONVERSION_INTERVAL 10000 //todo:This is set long for the moment
// As the bus is running at 100KHX and the
// Transaction time is 2.163Ms
enum MPU6000_BUS {
MPU6000_BUS_ALL = 0,
@@ -1683,12 +1686,7 @@ MPU6000::cycle()
&_work,
(worker_t)&MPU6000::cycle_trampoline,
this,
USEC2TICK(MPU6000_CONVERSION_INTERVAL));
//todo:This is set long for the moment
// As the bus is running at 100KHX and the
// Transaction time is 2.163Ms
// It should be USEC2TICK(_call_interval - MPU6000_TIMER_REDUCTION));
// When I get the bus running at 400Khz
USEC2TICK(_call_interval - MPU6000_TIMER_REDUCTION));
}
}
#endif