MPU9250SelfTest() FS configurations

[simonjwright]

Starting at line 924 there is

   uint8_t FS = 0;
[...]
  writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS);  // Set full scale range for the gyro to 250 dps
[...]
  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g

The first sets Fchoice_b to 1 which results in the gyro bandwidth being 8800 Hz. GYRO_FS_SEL is [4:3], so I think it should set to FS<<3.
The second sets a reserved bit; ACCEL_FS_SEL is also [4:3], so, again, FS<<3.

[kriswiner]

Yeah, this is messed up. It should read just 0x00, or FS<<3 with FS = 0x01.

-----Original Message-----
From: Simon Wright [mailto:notifications@github.com]
Sent: September 27, 2016 4:16 AM
To: kriswiner/MPU-9250
Subject: [kriswiner/MPU-9250] MPU9250SelfTest() FS configurations (#78)

Starting at line 924 there is

uint8_t FS = 0;
[...]
writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 1<<FS); // Set full scale range
for the gyro to 250 dps
[...]
writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 1<<FS); // Set full scale range
for the accelerometer to 2 g

The first sets Fchoice_b to 1 which results in the gyro bandwidth being 8800
Hz. GYRO_FS_SEL is [4:3], so I think it should set to FS<<3.
The second sets a reserved bit; ACCEL_FS_SEL is also [4:3], so, again,
FS<<3.

You are receiving this because you are subscribed to this thread.
Reply to this email directly, view it on GitHub
#78 , or mute the thread
<https://github.com/notifications/unsubscribe-auth/AGY1qqUmR6IhWHOCqZUygkYYh
H-6RHhgks5quPrugaJpZM4KHi0M> .
<https://github.com/notifications/beacon/AGY1qvM7X64MawlsJBIbaOM0tpCvj9l1ks5
quPrugaJpZM4KHi0M.gif>