bosch_bmi160: change range of gyro to +/-1000 dps
Bug: 29154431
Change-Id: I7fb8048cff60fa31a26b99b7801662edff8ea726
diff --git a/firmware/src/drivers/bosch_bmi160/bosch_bmi160.c b/firmware/src/drivers/bosch_bmi160/bosch_bmi160.c
index 5a4b13f..e5b0e77 100644
--- a/firmware/src/drivers/bosch_bmi160/bosch_bmi160.c
+++ b/firmware/src/drivers/bosch_bmi160/bosch_bmi160.c
@@ -80,7 +80,7 @@
#define DBG_WM_CALC 0
#define TIMESTAMP_DBG 0
-#define BMI160_APP_VERSION 5
+#define BMI160_APP_VERSION 6
// fixme: to list required definitions for a slave mag
#ifdef USE_BMM150
@@ -212,7 +212,7 @@
#define MAX_NUM_COMMS_EVENT_SAMPLES 15
#define kScale_acc 0.00239501953f // ACC_range * 9.81f / 32768.0f;
-#define kScale_gyr 0.00106472439f // GYR_range * M_PI / (180.0f * 32768.0f);
+#define kScale_gyr 0.00053263221f // GYR_range * M_PI / (180.0f * 32768.0f);
#define kScale_temp 0.001953125f // temperature in deg C
#define kTempInvalid -1000.0f
@@ -2704,8 +2704,8 @@
break;
case CALIBRATION_FOC:
- // set gyro range to +-2000 deg/sec
- SPI_WRITE(BMI160_REG_GYR_RANGE, 0x00);
+ // set gyro range to +-1000 deg/sec
+ SPI_WRITE(BMI160_REG_GYR_RANGE, 0x01);
// enable gyro fast offset compensation
SPI_WRITE(BMI160_REG_FOC_CONF, 0x40);
@@ -3060,9 +3060,9 @@
mTask.sensors[GYR].offset_enable = false;
SPI_WRITE(BMI160_REG_OFFSET_6, offset6Mode(), 450);
- // initial range for accel (+-8g) and gyro (+-2000 degree).
+ // initial range for accel (+-8g) and gyro (+-1000 degree).
SPI_WRITE(BMI160_REG_ACC_RANGE, 0x08, 450);
- SPI_WRITE(BMI160_REG_GYR_RANGE, 0x00, 450);
+ SPI_WRITE(BMI160_REG_GYR_RANGE, 0x01, 450);
// Reset step counter
SPI_WRITE(BMI160_REG_CMD, 0xB2, 10000);