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mpu9250: set accel DLPF to 41 Hz (#5177)

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Previously, the accel DLPF was not set, so it's not clear what the
settings are or should be.
This commit is contained in:
Julian Oes
2016-07-31 08:04:01 -07:00
committed by Lorenz Meier
parent d809faec63
commit dd70b3752a
1 changed files with 5 additions and 0 deletions
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src/drivers/mpu9250/mpu9250.cpp
+5
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@@ -169,6 +169,8 @@
#define BITS_DLPF_CFG_3600HZ 0x07 #define BITS_DLPF_CFG_3600HZ 0x07
#define BITS_DLPF_CFG_MASK 0x07 #define BITS_DLPF_CFG_MASK 0x07
#define BITS_ACCEL_CONFIG2_41HZ 0x03
#define BIT_RAW_RDY_EN 0x01 #define BIT_RAW_RDY_EN 0x01
#define BIT_INT_ANYRD_2CLEAR 0x10 #define BIT_INT_ANYRD_2CLEAR 0x10
@@ -471,6 +473,9 @@ int MPU9250::reset()
write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
usleep(1000); usleep(1000);
write_checked_reg(MPUREG_ACCEL_CONFIG2, BITS_ACCEL_CONFIG2_41HZ);
usleep(1000);
uint8_t retries = 10; uint8_t retries = 10;
while (retries--) { while (retries--) {