uint8_t mpu_set_sample_rate(uint16_t rate){
uint8_t data;
// センサー使用しない場合は終了
if (!(mpu9250_st.sensors))
return -1;
if (mpu9250_st.dmp_on){
return -1;
} else {
// ローパワーモード？とりあえずマスク
#if 0
if (mpu9250_st.lp_accel_mode) {
if (rate && (rate <= 40)) {
/* Just stay in low-power accel mode. */
mpu_lp_accel_mode(rate);
return 0;
}
/* Requested rate exceeds the allowed frequencies in LP accel mode,
* switch back to full-power mode.
*/
mpu_lp_accel_mode(0);
}
#endif
// 上下限カット
if (rate < 4)
rate = 4;
else if (rate > 1000)
rate = 1000;
// レジスタ書き込み値に変換
data = 1000 / rate - 1;
// レジスタ書き込み
if (mpu9250_writes(MPU6500_RATE_DIV, 1, &data))
return -1;
// 値の保存
mpu9250_st.sample_rate = 1000 / (1 + data);
#ifdef USE_AK8963
mpu_set_compass_sample_rate(min(mpu9250_st.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE));
#endif
/* Automatically set LPF to 1/2 sampling rate. */
mpu_set_lpf(mpu9250_st.sample_rate >> 1);
return 0;
}
}
// Accelerometer Low-Power Mode. Rate options:
// 1.25 (1), 2.5 (2), 5, 10, 20, 40,
// 80, 160, 320, or 640 Hz
// Disables compass and gyro
inv_error_t MPU9250_DMP::lowPowerAccel(unsigned short rate)
{
return mpu_lp_accel_mode(rate);
}
