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Merge pull request #648 from lukash/imu-fix 

Fix lsm6ds3 IMU applying MEDIUM/HIGH filters
This commit is contained in:
Benjamin Vedder 2023-08-15 07:45:43 +02:00 committed by GitHub
parent 4568b8a920 ae571ab0fa
commit 5caf35fff6
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 10 additions and 6 deletions
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16
imu/lsm6ds3.c
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@ -84,8 +84,8 @@ void lsm6ds3_init(stm32_gpio_t *sda_gpio, int sda_pin,
// TRC variant supports configurable hardware filters
// oversampling is achieved by configuring higher bandwidth + stronger filtering
#define LSM6DS3TRC_BW0_XL 1
#define LSM6DS3TRC_LPF1_BW_SEL 2
#define LSM6DS3TRC_BW0_XL 0x1
#define LSM6DS3TRC_LPF1_BW_SEL 0x2
// Configure imu
// Set all accel speeds
@ -183,7 +183,7 @@ void lsm6ds3_init(stm32_gpio_t *sda_gpio, int sda_pin,
// Standard LSM6DS3 only: Set XL anti-aliasing filter to be manually configured
txb[1] = LSM6DS3_ACC_GYRO_BW_SCAL_ODR_ENABLED;
}
res = i2c_bb_tx_rx(&m_i2c_bb, lsm6ds3_addr, txb, 1, rxb, 1);
res = i2c_bb_tx_rx(&m_i2c_bb, lsm6ds3_addr, txb, 2, rxb, 1);
if (!res){
commands_printf("LSM6DS3 ODR Config FAILED");
return;
@ -191,11 +191,15 @@ void lsm6ds3_init(stm32_gpio_t *sda_gpio, int sda_pin,
if (is_trc && (filter == IMU_FILTER_HIGH)) {
// Low-pass filter with ODR/9 data rate
#define LSM6DS3TRC_LPF2_XL_EN 0x40
#define LSM6DS3TRC_HPCF_XL_ODR9 (0x2 << 4);
#define LSM6DS3TRC_LPF2_XL_EN 0x80
#define LSM6DS3TRC_HPCF_XL_ODR9 0x40
txb[0] = LSM6DS3_ACC_GYRO_CTRL8_XL;
txb[1] = LSM6DS3TRC_LPF2_XL_EN | LSM6DS3TRC_HPCF_XL_ODR9;
i2c_bb_tx_rx(&m_i2c_bb, lsm6ds3_addr, txb, 1, rxb, 1);
res = i2c_bb_tx_rx(&m_i2c_bb, lsm6ds3_addr, txb, 2, rxb, 1);
if (!res) {
commands_printf("LSM6DS3 Accel Low Pass Config FAILED");
return;
}
}
terminal_register_command_callback(