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Disable ASFR function on ICM426xx driver #9409

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merged 1 commit into from Oct 26, 2023
Merged

Disable ASFR function on ICM426xx driver #9409

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13 changes: 12 additions & 1 deletion src/main/drivers/accgyro/accgyro_icm42605.c
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Expand Up @@ -78,11 +78,13 @@
#define ICM42605_INT_TPULSE_DURATION_100 (0 << ICM42605_INT_TPULSE_DURATION_BIT)
#define ICM42605_INT_TPULSE_DURATION_8 (1 << ICM42605_INT_TPULSE_DURATION_BIT)


#define ICM42605_RA_INT_SOURCE0 0x65
#define ICM42605_UI_DRDY_INT1_EN_DISABLED (0 << 3)
#define ICM42605_UI_DRDY_INT1_EN_ENABLED (1 << 3)

#define ICM42605_INTF_CONFIG1 0x4D
#define ICM42605_INTF_CONFIG1_AFSR_MASK 0xC0
#define ICM42605_INTF_CONFIG1_AFSR_DISABLE 0x40

static void icm42605AccInit(accDev_t *acc)
{
Expand Down Expand Up @@ -190,6 +192,15 @@ static void icm42605AccAndGyroInit(gyroDev_t *gyro)
busWrite(dev, ICM42605_RA_INT_CONFIG1, intConfig1Value);
delay(15);

//Disable AFSR as in BF and Ardupilot
uint8_t intfConfig1Value;
busRead(dev, ICM42605_INTF_CONFIG1, &intfConfig1Value);
intfConfig1Value &= ~ICM42605_INTF_CONFIG1_AFSR_MASK;
intfConfig1Value |= ICM42605_INTF_CONFIG1_AFSR_DISABLE;
busWrite(dev, ICM42605_INTF_CONFIG1, intfConfig1Value);

delay(15);

busSetSpeed(dev, BUS_SPEED_FAST);
}

Expand Down