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Fix dmp sample rate

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LETBBI
2022-02-05 23:34:56 +09:00
parent 00461f6dc5
commit fbd74e9a97
1 changed files with 1 additions and 1 deletions
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lib/mpu9250/MPU9250_6Axis_MotionApps_V6_12.cpp
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@@ -359,7 +359,7 @@ uint8_t MPU9250::dmpInitialize() { // Lets get it over with fast Write everythin
I2Cdev::writeBytes(devAddr,0x1C, 1, &(val = 0x00)); // 0000 0000 ACCEL_CONFIG: 0 = Accel Full Scale Select: 2g
I2Cdev::writeBytes(devAddr,0x37, 1, &(val = 0x80)); // 1001 0000 INT_PIN_CFG: ACTL The logic level for int pin is active low. and interrupt status bits are cleared on any read
I2Cdev::writeBytes(devAddr,0x6B, 1, &(val = 0x01)); // 0000 0001 PWR_MGMT_1: Clock Source Select PLL_X_gyro
I2Cdev::writeBytes(devAddr,0x19, 1, &(val = 0x04)); // 0000 0100 SMPLRT_DIV: Divides the internal sample rate 400Hz ( Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV))
I2Cdev::writeBytes(devAddr,0x19, 1, &(val = 0x02)); // 0000 0100 SMPLRT_DIV: Divides the internal sample rate 400Hz ( Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV))
I2Cdev::writeBytes(devAddr,0x1A, 1, &(val = 0x01)); // 0000 0001 CONFIG: Digital Low Pass Filter (DLPF) Configuration 188HZ //Im betting this will be the beat
if (!writeProgMemoryBlock(dmpMemory, MPU9250_DMP_CODE_SIZE)) return 1; // Loads the DMP image into the MPU9250 Memory // Should Never Fail
I2Cdev::writeWords(devAddr, 0x70, 1, &(ival = 0x0400)); // DMP Program Start Address