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Peripherals: format ICM file
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Erki 2021-11-14 01:31:12 +02:00
parent 43bc8d8265
commit 0d1ea1c1c2
1 changed files with 7 additions and 7 deletions
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14
Peripherals/Inc/peripherals_imu_icm.hpp
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@ -72,17 +72,17 @@ public:
// rate = 1KHz, temp filter = 42 // rate = 1KHz, temp filter = 42
hal::delay(10); hal::delay(10);
const std::uint8_t new_gyro_conf = (std::uint32_t(scale_gyro_) << 3); const std::uint8_t new_gyro_conf = (std::uint32_t(scale_gyro_) << 3);
registers.writeRegister(Registers_::GYRO_CONFIG & Registers_::WRITE_MASK, registers.writeRegister(Registers_::GYRO_CONFIG & Registers_::WRITE_MASK,
new_gyro_conf); new_gyro_conf);
const std::uint8_t new_accel_config = (std::uint32_t(scale_accel_) << 3); const std::uint8_t new_accel_config = (std::uint32_t(scale_accel_) << 3);
registers.writeRegister(Registers_::ACCEL_CONFIG & Registers_::WRITE_MASK, registers.writeRegister(Registers_::ACCEL_CONFIG & Registers_::WRITE_MASK,
new_accel_config); new_accel_config);
// setGyroscopeScale(scale_gyro_); // setGyroscopeScale(scale_gyro_);
// //
// setAccelerometerScale(scale_accel_); // setAccelerometerScale(scale_accel_);
// ACCEL_FCHOICE_B = 0, A_DLPF_CFG = 3 filter=44.8/61.5 rate=1KHz // ACCEL_FCHOICE_B = 0, A_DLPF_CFG = 3 filter=44.8/61.5 rate=1KHz
registers.writeRegister(Registers_::ACCEL_CONFIG2 & Registers_::WRITE_MASK, registers.writeRegister(Registers_::ACCEL_CONFIG2 & Registers_::WRITE_MASK,