From c9d32578e358b2f24dba4ec86527ef6ed286dd9f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net> Date: Thu, 21 Mar 2019 15:55:59 +0100 Subject: [PATCH] fix bmi055: increase DLPF from 62.5 to 500 With a DLPF of 62.5 Hz, the sampling rate is apperently not 1 kHz anymore, because the driver got duplicate samples and published only at 128 Hz. We have to increase the filter back to 500 Hz so that we get 1 kHz sampling rate, with 250 Hz publications. --- src/drivers/imu/bmi055/BMI055_accel.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/imu/bmi055/BMI055_accel.cpp b/src/drivers/imu/bmi055/BMI055_accel.cpp index 04a89b7b79..3a8820e4cc 100644 --- a/src/drivers/imu/bmi055/BMI055_accel.cpp +++ b/src/drivers/imu/bmi055/BMI055_accel.cpp @@ -169,7 +169,7 @@ int BMI055_accel::reset() write_reg(BMI055_ACC_SOFTRESET, BMI055_SOFT_RESET);//Soft-reset up_udelay(5000); - write_checked_reg(BMI055_ACC_BW, BMI055_ACCEL_BW_62_5); //Write accel bandwidth (DLPF) + write_checked_reg(BMI055_ACC_BW, BMI055_ACCEL_BW_500); //Write accel bandwidth (DLPF) write_checked_reg(BMI055_ACC_RANGE, BMI055_ACCEL_RANGE_2_G);//Write range write_checked_reg(BMI055_ACC_INT_EN_1, BMI055_ACC_DRDY_INT_EN); //Enable DRDY interrupt write_checked_reg(BMI055_ACC_INT_MAP_1, BMI055_ACC_DRDY_INT1); //Map DRDY interrupt on pin INT1 -- GitLab