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Code Issues Releases Activity

IMU3000: For now sample at 1k which allows us to bring down the I2C clock rate

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to 400k
This commit is contained in:
James Cotton 2011-09-08 03:37:51 -05:00
parent 0eb4fd113b
commit c87a042195
1 changed files with 2 additions and 2 deletions
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4
flight/INS/pios_board.c
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@ -490,7 +490,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
.I2C_Ack = I2C_Ack_Enable, .I2C_Ack = I2C_Ack_Enable,
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
.I2C_DutyCycle = I2C_DutyCycle_2, .I2C_DutyCycle = I2C_DutyCycle_2,
.I2C_ClockSpeed = 1000000, /* bits/s */ .I2C_ClockSpeed = 400000, /* bits/s */
}, },
.transfer_timeout_ms = 50, .transfer_timeout_ms = 50,
.scl = { .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 .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, | PIOS_IMU3000_FIFO_GYRO_Z_OUT | PIOS_IMU3000_FIFO_FOOTER,
// Clock at 8 khz, downsampled by 4 for 2khz // 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, .Interrupt_cfg = PIOS_IMU3000_INT_DATA_RDY | PIOS_IMU3000_INT_CLR_ANYRD,
.User_ctl = PIOS_IMU3000_USERCTL_FIFO_EN, .User_ctl = PIOS_IMU3000_USERCTL_FIFO_EN,
.Pwr_mgmt_clk = PIOS_IMU3000_PWRMGMT_PLL_X_CLK, .Pwr_mgmt_clk = PIOS_IMU3000_PWRMGMT_PLL_X_CLK,