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Merged commit disabling FIFO in L3GD20

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Andrew Tridgell 2013-08-02 20:25:26 +10:00 committed by Lorenz Meier
parent 2c24888d6d
commit 547a747752
1 changed files with 7 additions and 2 deletions
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9
src/drivers/l3gd20/l3gd20.cpp
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@ -333,8 +333,13 @@ L3GD20::init()
write_reg(ADDR_CTRL_REG4, REG4_BDU);
write_reg(ADDR_CTRL_REG5, 0);
write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
/* disable FIFO. This makes things simpler and ensures we
* aren't getting stale data. It means we must run the hrt
* callback fast enough to not miss data. */
write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
set_range(500); /* default to 500dps */
set_samplerate(0); /* max sample rate */