diff options
Diffstat (limited to 'driver/accelgyro_lsm6dsm.h')
| -rw-r--r-- | driver/accelgyro_lsm6dsm.h | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/driver/accelgyro_lsm6dsm.h b/driver/accelgyro_lsm6dsm.h index 3336326b90..fd7f59c3b3 100644 --- a/driver/accelgyro_lsm6dsm.h +++ b/driver/accelgyro_lsm6dsm.h @@ -267,9 +267,22 @@ struct lsm6dsm_data { struct lsm6dsm_fifo_data config; struct lsm6dsm_fifo_data current; int next_in_patten; + /* + * After an ODR change, the sensor filters need settling time; discard + * initial samples with incorrect values + */ + unsigned int samples_to_discard[FIFO_DEV_NUM]; #endif }; +/* + * Note: The specific number of samples to discard depends on the filters + * configured for the chip, as well as the ODR being set. For most of our + * allowed ODRs, 4 should suffice. + * See: ST's LSM6DSM application notes (AN4987) Tables 17 and 19 for details + */ +#define LSM6DSM_DISCARD_SAMPLES 4 + #define LSM6DSM_MAIN_SENSOR(_s) ((_s) - (_s)->type) #ifdef CONFIG_ACCEL_FIFO |