Diff: BMI088.cpp

Revision:

29:cd963a6d31c5

Parent:

28:21dfb161c67c

--- a/BMI088.cpp	Mon Jan 20 12:41:13 2020 +0000
+++ b/BMI088.cpp	Mon Jan 27 09:23:58 2020 +0000
@@ -12,13 +12,14 @@
 {
     setAccScaleRange(RANGE_3G);
     wait(.02);
-    setAccOutputDataRate(ODR_100); // ODR_100 -> 40 Hz bandwith in normal mode
+    setAccOutputDataRate(ODR_50);  // ODR_50 -> 20 Hz bandwith in normal mode
+    // setAccOutputDataRateOSR2(ODR_100); // ODR_100 -> 19 Hz bandwith in OSR2 mode
     wait(.02);
     setAccPowerMode(ACC_ACTIVE);
     wait(.02);
     setGyroScaleRange(RANGE_500);
     wait(.02);
-    setGyroOutputDataRate(ODR_400_BW_47);
+    setGyroOutputDataRate(ODR_200_BW_23);
     wait(.02);
     setGyroPowerMode(GYRO_NORMAL);
 }
@@ -82,13 +83,30 @@
 
 void BMI088::setAccOutputDataRate(acc_odr_type_t odr)
 {
+    /*
     uint8_t data = 0;
 
     data = read8(ACC, BMI088_ACC_CONF);
-    data = data & 0xf0;
+    data = data & 0xf0; // 0xf0 := 11110000
     data = data | (uint8_t)odr;
 
     write8(ACC, BMI088_ACC_CONF, data);
+    */
+    
+    uint8_t data = (uint8_t)0xa0 | (uint8_t)odr;
+    write8(ACC, BMI088_ACC_CONF, data);
+}
+
+void BMI088::setAccOutputDataRateOSR2(acc_odr_type_t odr)
+{
+    uint8_t data = (uint8_t)0x90 | (uint8_t)odr;
+    write8(ACC, BMI088_ACC_CONF, data);
+}
+
+void BMI088::setAccOutputDataRateOSR4(acc_odr_type_t odr)
+{
+    uint8_t data = (uint8_t)0x80 | (uint8_t)odr;
+    write8(ACC, BMI088_ACC_CONF, data);
 }
 
 void BMI088::setGyroScaleRange(gyro_scale_type_t range)