commit 425eccbf15c25c32cf073595d25ff50e51570c1b
author Rosa chow <rchow@invensense.com> Wed Nov 09 18:57:46 2011 -0800
committer Mathias Agopian <mathias@google.com> Thu Nov 10 14:36:17 2011 -0800
tree 519864cf2f737a69cca954c9cba9584c712ecd9c
parent 76c7c028ba3f0eeb17b7cf4709883ace0ffc83c5

Fix for sensor rate not updating correctly
Gyro sensor rate is not correct if accel is enabled, change sensor rate,
then enable gyro sensor.
.

Change-Id: I398bba660b34ed404a2ec156ad1f1a02dd6ed522

mlsdk/mllite/ml.c

diff --git a/mlsdk/mllite/ml.c b/mlsdk/mllite/ml.c
index cb995a0..0489f5b 100644
--- a/mlsdk/mllite/ml.c
+++ b/mlsdk/mllite/ml.c
@@ -1775,10 +1775,11 @@
         }
     }
 
+    inv_set_fifo_rate(fifoRate);
+
     if (!(sensors & INV_DMP_PROCESSOR) && (sensors & INV_THREE_AXIS_ACCEL)) {
         struct ext_slave_config config;
         long data;
-        inv_set_fifo_rate(fifoRate);
 
         config.len = sizeof(long);
         config.key = MPU_SLAVE_CONFIG_IRQ_RESUME;

mlsdk/mllite/mlFIFO.c

diff --git a/mlsdk/mllite/mlFIFO.c b/mlsdk/mllite/mlFIFO.c
index ce930ea..2c0d2f0 100644
--- a/mlsdk/mllite/mlFIFO.c
+++ b/mlsdk/mllite/mlFIFO.c
@@ -1964,9 +1964,9 @@
     if (state != INV_STATE_DMP_OPENED && state != INV_STATE_DMP_STARTED)
         return INV_ERROR_SM_IMPROPER_STATE;
 
-    if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) {
+    fifo_obj.fifo_rate = fifoRate;
 
-        fifo_obj.fifo_rate = fifoRate;
+    if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) {
 
         regs[0] = (unsigned char)((fifoRate >> 8) & 0xff);
         regs[1] = (unsigned char)(fifoRate & 0xff);
@@ -2026,12 +2026,7 @@
  */
 unsigned short inv_get_fifo_rate(void)
 {
-    struct mldl_cfg *mldl_cfg = inv_get_dl_config();
-    if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR)
-        return fifo_obj.fifo_rate;
-    else
-        return (unsigned short)((1000 * fifo_obj.sample_step_size_ms) /
-                                (inv_mpu_get_sampling_period_us(mldl_cfg))) - 1;
+    return fifo_obj.fifo_rate;
 }
 
 /**