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stronger acc anti-aliasing filter

This commit is contained in:
Hugo Chiang 2022-11-21 11:08:53 +08:00
parent 16617aea24
commit 1a20405e29
3 changed files with 9 additions and 5 deletions
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8
src/main/drivers/accgyro/accgyro_spi_bmi160.c
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@ -90,6 +90,10 @@
#define BMI160_VAL_GYRO_CONF_BWP_OSR4 0x00 #define BMI160_VAL_GYRO_CONF_BWP_OSR4 0x00
#define BMI160_VAL_GYRO_CONF_BWP_OSR2 0x10 #define BMI160_VAL_GYRO_CONF_BWP_OSR2 0x10
#define BMI160_VAL_GYRO_CONF_BWP_NORM 0x20 #define BMI160_VAL_GYRO_CONF_BWP_NORM 0x20
#define BMI160_VAL_ACC_CONF_BWP_OSR4 0x00
#define BMI160_VAL_ACC_CONF_BWP_OSR2 0x10
#define BMI160_VAL_ACC_CONF_BWP_NORM 0x20
#define BMI160_VAL_ACC_CONF_US_HP 0x00
// Need to see at least this many interrupts during initialisation to confirm EXTI connectivity // Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
#define GYRO_EXTI_DETECT_THRESHOLD 1000 #define GYRO_EXTI_DETECT_THRESHOLD 1000
@ -184,8 +188,8 @@ static int32_t BMI160_Config(const extDevice_t *dev)
} }
// Set odr and ranges // Set odr and ranges
// Set acc_us = 0 acc_bwp = 0b010 so only the first filter stage is used // Set acc_us = 0 & acc_bwp = 0b001 for high performance and OSR2 mode
spiWriteReg(dev, BMI160_REG_ACC_CONF, 0x20 | BMI160_ODR_800_Hz); spiWriteReg(dev, BMI160_REG_ACC_CONF, BMI160_VAL_ACC_CONF_US_HP | BMI160_VAL_ACC_CONF_BWP_OSR2 | BMI160_ODR_800_Hz);
delay(1); delay(1);
spiWriteReg(dev, BMI160_REG_GYR_CONF, getBmiOsrMode() | BMI160_ODR_3200_Hz); spiWriteReg(dev, BMI160_REG_GYR_CONF, getBmiOsrMode() | BMI160_ODR_3200_Hz);

2
src/main/drivers/accgyro/accgyro_spi_bmi270.c
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@ -110,7 +110,7 @@ typedef enum {
BMI270_VAL_PAGE_0 = 0x00, // select page 0 BMI270_VAL_PAGE_0 = 0x00, // select page 0
BMI270_VAL_ACC_CONF_ODR800 = 0x0B, // set acc sample rate to 800hz BMI270_VAL_ACC_CONF_ODR800 = 0x0B, // set acc sample rate to 800hz
BMI270_VAL_ACC_CONF_ODR1600 = 0x0C, // set acc sample rate to 1600hz BMI270_VAL_ACC_CONF_ODR1600 = 0x0C, // set acc sample rate to 1600hz
BMI270_VAL_ACC_CONF_BWP = 0x02, // set acc filter in normal mode BMI270_VAL_ACC_CONF_BWP = 0x01, // set acc filter in osr2 mode
BMI270_VAL_ACC_CONF_HP = 0x01, // set acc in high performance mode BMI270_VAL_ACC_CONF_HP = 0x01, // set acc in high performance mode
BMI270_VAL_ACC_RANGE_8G = 0x02, // set acc to 8G full scale BMI270_VAL_ACC_RANGE_8G = 0x02, // set acc to 8G full scale
BMI270_VAL_ACC_RANGE_16G = 0x03, // set acc to 16G full scale BMI270_VAL_ACC_RANGE_16G = 0x03, // set acc to 16G full scale

4
src/main/drivers/accgyro/accgyro_spi_lsm6dso_init.c
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@ -155,8 +155,8 @@ static void lsm6dsoConfig(gyroDev_t *gyro)
lsm6dsoWriteRegister(dev, LSM6DSO_REG_INT2_CTRL, LSM6DSO_VAL_INT2_CTRL, 1); lsm6dsoWriteRegister(dev, LSM6DSO_REG_INT2_CTRL, LSM6DSO_VAL_INT2_CTRL, 1);
// Configure the accelerometer // Configure the accelerometer
// 833hz ODR, 16G scale, use LPF1 output // 833hz ODR, 16G scale, use LPF2 output (default with ODR/4 cutoff)
lsm6dsoWriteRegister(dev, LSM6DSO_REG_CTRL1_XL, (LSM6DSO_VAL_CTRL1_XL_ODR833 << 4) | (LSM6DSO_VAL_CTRL1_XL_16G << 2) | (LSM6DSO_VAL_CTRL1_XL_LPF1 << 1), 1); lsm6dsoWriteRegister(dev, LSM6DSO_REG_CTRL1_XL, (LSM6DSO_VAL_CTRL1_XL_ODR833 << 4) | (LSM6DSO_VAL_CTRL1_XL_16G << 2) | (LSM6DSO_VAL_CTRL1_XL_LPF2 << 1), 1);
// Configure the gyro // Configure the gyro
// 6664hz ODR, 2000dps scale // 6664hz ODR, 2000dps scale