From c87a0421955861120a874c25903d886e7f56575c Mon Sep 17 00:00:00 2001 From: James Cotton Date: Thu, 8 Sep 2011 03:37:51 -0500 Subject: [PATCH] IMU3000: For now sample at 1k which allows us to bring down the I2C clock rate to 400k --- flight/INS/pios_board.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/INS/pios_board.c b/flight/INS/pios_board.c index d180a8b02..6f8f499dc 100644 --- a/flight/INS/pios_board.c +++ b/flight/INS/pios_board.c @@ -490,7 +490,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = { .I2C_Ack = I2C_Ack_Enable, .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, .I2C_DutyCycle = I2C_DutyCycle_2, - .I2C_ClockSpeed = 1000000, /* bits/s */ + .I2C_ClockSpeed = 400000, /* bits/s */ }, .transfer_timeout_ms = 50, .scl = { @@ -660,7 +660,7 @@ static const struct pios_imu3000_cfg pios_imu3000_cfg = { .Fifo_store = PIOS_IMU3000_FIFO_TEMP_OUT | PIOS_IMU3000_FIFO_GYRO_X_OUT | PIOS_IMU3000_FIFO_GYRO_Y_OUT | PIOS_IMU3000_FIFO_GYRO_Z_OUT | PIOS_IMU3000_FIFO_FOOTER, // Clock at 8 khz, downsampled by 4 for 2khz - .Smpl_rate_div = 3, + .Smpl_rate_div = 7, .Interrupt_cfg = PIOS_IMU3000_INT_DATA_RDY | PIOS_IMU3000_INT_CLR_ANYRD, .User_ctl = PIOS_IMU3000_USERCTL_FIFO_EN, .Pwr_mgmt_clk = PIOS_IMU3000_PWRMGMT_PLL_X_CLK,