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add dlpf option to ino

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This commit is contained in:
Tove 2026-03-05 21:31:11 +01:00
parent f6fcd8c3cd
commit 84ebc9826a
1 changed files with 12 additions and 5 deletions
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17
pi_pico_mpu6050.ino
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@ -17,6 +17,7 @@
#include <Wire.h>
#define ENABLE_LPF false
#define addr 0x68
#define FIFO_EN 0x23
@ -27,6 +28,7 @@
#define PWR_MGMT_1 0x6B
#define FIFO_COUNTH 0x72
#define FIFO_COUNTL 0x73
#define CONFIG 0x1A
#define SETREG(REG, VAL) Wire.beginTransmission(addr); Wire.write(REG); Wire.write(VAL); Wire.endTransmission(true);
void setup() {
@ -40,17 +42,22 @@ void setup() {
Serial.begin(8000000); // be fast. we are transmitting csv which is inefficient as fuck
delay(3000);
delay(2000);
SETREG(PWR_MGMT_1, 0b10000000); // reset
delay(200);
delay(500);
SETREG(USER_CTRL, 0b00000100); // reset fifo
delay(100);
SETREG(ACCEL_CONFIG, 0b00000000); // +-2g
SETREG(PWR_MGMT_1, 0); // all on
SETREG(SMPRT_DIV, 7); // 8kHz / (1 + 7) = 1kHz
SETREG(ACCEL_CONFIG, 0b00000000); // +-2g
if (ENABLE_LPF) {
SETREG(CONFIG, 6); // DLPF strength 2
} else {
SETREG(SMPRT_DIV, 7); // 8kHz / (1 + 7) = 1kHz
}
delay(1000);
SETREG(FIFO_EN, 0b00001000); // only accel bit
SETREG(USER_CTRL, 0b01000000); // only FIFO_EN bit
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(LED_BUILTIN, HIGH);
Wire.setClock(2500000);