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BMI270 - 6.4k code (not working) #989

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BMI270 - 6.4k code (not working) #989

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1 change: 1 addition & 0 deletions src/main/drivers/accgyro/accgyro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,7 @@
#define GYRO_RATE_1_kHz 1000.0f
#define GYRO_RATE_1100_Hz 909.09f
#define GYRO_RATE_3200_Hz 312.5f
#define GYRO_RATE_6400_Hz 156.25f
#define GYRO_RATE_8_kHz 125.0f
#define GYRO_RATE_9_kHz 111.11f
#define GYRO_RATE_16_kHz 64.0f
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11 changes: 10 additions & 1 deletion src/main/drivers/accgyro/gyro_sync.c
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Expand Up @@ -62,7 +62,16 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
if (lpfNoneOr256) { gyro->gyroRateKHz = GYRO_RATE_3200_Hz; }
break;
case BMI_270_SPI: //bmi270
gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
#ifdef USE_GYRO_DLPF_EXPERIMENTAL
if (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) {
// 6.4KHz sampling, but data is unfiltered (no hardware DLPF)
gyro->gyroRateKHz = GYRO_RATE_6400_Hz;
//gyroSampleRateHz = 6400;
} else
#endif
{
gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
}
break;
default:
if (gyro_use_32khz) {
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