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Merge pull request #206 from Mitchlol/BMI160_lil_fixy_fix 

Increase BMI160 output data rate
This commit is contained in:
Benjamin Vedder 2020-08-26 14:36:38 +02:00 committed by GitHub
parent 91bde64e71 1edad098a3
commit 9459083b3a
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 23 additions and 2 deletions
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25
imu/bmi160_wrapper.c
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@ -54,16 +54,37 @@ static bool reset_init_bmi(BMI_STATE *s) {
bmi160_init(&(s->sensor));
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_200HZ;
s->sensor.accel_cfg.range = BMI160_ACCEL_RANGE_16G;
s->sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
s->sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_200HZ;
s->sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
s->sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
s->sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
if(s->rate_hz <= 25){
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_25HZ;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_25HZ;
}else if(s->rate_hz <= 50){
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_50HZ;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_50HZ;
}else if(s->rate_hz <= 100){
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_100HZ;
}else if(s->rate_hz <= 200){
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_200HZ;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_200HZ;
}else if(s->rate_hz <= 400){
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_400HZ;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_400HZ;
}else if(s->rate_hz <= 800){
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_800HZ;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_800HZ;
}else{
s->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
s->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_1600HZ;
}
int8_t res = bmi160_set_sens_conf(&(s->sensor));
return res == BMI160_OK;