From 6ca79179031653b7fefee163ea9e501654bb4b50 Mon Sep 17 00:00:00 2001 From: Yurii Soldak Date: Sat, 1 Feb 2025 01:34:49 +0100 Subject: [PATCH] fix: nano-33-ble IMU sample rates --- src/orientation/imu_nano-33-ble.go | 6 +++--- src/orientation/imu_xiao-ble.go | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/orientation/imu_nano-33-ble.go b/src/orientation/imu_nano-33-ble.go index 69a237d..c52b2c7 100644 --- a/src/orientation/imu_nano-33-ble.go +++ b/src/orientation/imu_nano-33-ble.go @@ -23,7 +23,7 @@ func NewIMU() *IMU { func (imu *IMU) Configure() { // Configure I2C machine.I2C1.Configure(machine.I2CConfig{ - Frequency: machine.TWI_FREQ_100KHZ, + Frequency: 100 * machine.KHz, SDA: machine.SDA1_PIN, SCL: machine.SCL1_PIN, }) @@ -35,9 +35,9 @@ func (imu *IMU) Configure() { imu.device = lsm9ds1.New(machine.I2C1) imu.device.Configure(lsm9ds1.Configuration{ AccelRange: lsm9ds1.ACCEL_4G, - AccelSampleRate: lsm9ds1.ACCEL_SR_952, + AccelSampleRate: lsm9ds1.ACCEL_SR_119, GyroRange: lsm9ds1.GYRO_500DPS, - GyroSampleRate: lsm9ds1.GYRO_SR_952, + GyroSampleRate: lsm9ds1.GYRO_SR_119, MagRange: lsm9ds1.MAG_4G, MagSampleRate: lsm9ds1.MAG_SR_80, }) diff --git a/src/orientation/imu_xiao-ble.go b/src/orientation/imu_xiao-ble.go index c5e4277..040d65e 100644 --- a/src/orientation/imu_xiao-ble.go +++ b/src/orientation/imu_xiao-ble.go @@ -32,7 +32,7 @@ func NewIMU() *IMU { func (imu *IMU) Configure() { // Configure I2C machine.I2C1.Configure(machine.I2CConfig{ - Frequency: machine.TWI_FREQ_100KHZ, + Frequency: 100 * machine.KHz, SDA: machine.SDA1_PIN, SCL: machine.SCL1_PIN, })