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mpu6000: allow disabling of on-sensor low pass filter

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used for vibration testing
This commit is contained in:
Andrew Tridgell
2014-05-14 16:01:10 +10:00
committed by Lorenz Meier
parent 37b4cdfce2
commit ef79d03276
1 changed files with 13 additions and 7 deletions
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20
src/drivers/mpu6000/mpu6000.cpp
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@@ -666,7 +666,9 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
/*
choose next highest filter frequency available
*/
if (frequency_hz <= 5) {
if (frequency_hz == 0) {
filter = BITS_DLPF_CFG_2100HZ_NOLPF;
} else if (frequency_hz <= 5) {
filter = BITS_DLPF_CFG_5HZ;
} else if (frequency_hz <= 10) {
filter = BITS_DLPF_CFG_10HZ;
@@ -922,10 +924,11 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return _accel_filter_x.get_cutoff_freq();
case ACCELIOCSLOWPASS:
// XXX decide on relationship of both filters
// i.e. disable the on-chip filter
//_set_dlpf_filter((uint16_t)arg);
if (arg == 0) {
// allow disabling of on-chip filter using
// zero as desired filter frequency
_set_dlpf_filter(0);
}
_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
@@ -1009,8 +1012,11 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
// XXX check relation to the internal lowpass
//_set_dlpf_filter((uint16_t)arg);
if (arg == 0) {
// allow disabling of on-chip filter using 0
// as desired frequency
_set_dlpf_filter(0);
}
return OK;
case GYROIOCSSCALE: