fix alignment of bankselect bits in c backbone. #6
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Fantastic, thanks so much for the PR! Must have glossed over this one many times and it would definitely help explain some strange behavior that I was seeing. Hopefully soon I can get some time to get back into this and test out some of the more advanced features like the I2C master interface. If you keep using the library and make any improvements we'd be thrilled to hear about it. |
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Certainly! I will be working on porting old 9250 code and uploading the DMP image for quaternion output! |
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This fix adjusts the C backbone function that selects register banks on the IMU. The active bits are 5:4 in the IMU so the numerical choice must be shifted left 4 bits. All attempts to change the register bank in this library were non-functional due to this bug.
I discovered it while changing the FSR of the gyro and accel and noticing that it had no impact on the output. Comparing this code to the driver I had started writing for this chip I discovered the problem.