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l3gd20: fixed bit definitions for filter rates 

and allow requests for the rates in table 21 of the l3gd20H datasheet
This commit is contained in:
Andrew Tridgell 2013-08-02 23:09:40 +10:00 committed by Lorenz Meier
parent b9446af3f9
commit a9c1882ea0
1 changed files with 8 additions and 7 deletions
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15
src/drivers/l3gd20/l3gd20.cpp
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@ -86,8 +86,8 @@ static const int ERROR = -1;
/* keep lowpass low to avoid noise issues */
#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4))
#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4))
#define RATE_380HZ_LP_30HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4))
#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4))
#define RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4))
#define ADDR_CTRL_REG2 0x21
#define ADDR_CTRL_REG3 0x22
@ -598,19 +598,20 @@ L3GD20::set_samplerate(unsigned frequency)
if (frequency == 0)
frequency = 760;
if (frequency <= 95) {
// use limits good for H or non-H models
if (frequency <= 100) {
_current_rate = 95;
bits |= RATE_95HZ_LP_25HZ;
} else if (frequency <= 190) {
} else if (frequency <= 200) {
_current_rate = 190;
bits |= RATE_190HZ_LP_25HZ;
} else if (frequency <= 380) {
} else if (frequency <= 400) {
_current_rate = 380;
bits |= RATE_380HZ_LP_30HZ;
bits |= RATE_380HZ_LP_20HZ;
} else if (frequency <= 760) {
} else if (frequency <= 800) {
_current_rate = 760;
bits |= RATE_760HZ_LP_30HZ;