work around QMI8658 issue [skip ci]

lyusupov · Jan 31, 2023 · 8dee180 · 8dee180
1 parent 44a6840
commit 8dee180
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Showing 3 changed files with 46 additions and 5 deletions.
diff --git a/software/firmware/source/SoftRF/src/platform/ESP32.cpp b/software/firmware/source/SoftRF/src/platform/ESP32.cpp
@@ -742,6 +742,39 @@ static void ESP32_setup()
             // selfTest enable
             true);
 
+        imu_qmi8658.configGyroscope(
+            /*
+            * GYR_RANGE_16DPS
+            * GYR_RANGE_32DPS
+            * GYR_RANGE_64DPS
+            * GYR_RANGE_128DPS
+            * GYR_RANGE_256DPS
+            * GYR_RANGE_512DPS
+            * GYR_RANGE_1024DPS
+            * */
+            SensorQMI8658::GYR_RANGE_64DPS,
+            /*
+             * GYR_ODR_7174_4Hz
+             * GYR_ODR_3587_2Hz
+             * GYR_ODR_1793_6Hz
+             * GYR_ODR_896_8Hz
+             * GYR_ODR_448_4Hz
+             * GYR_ODR_224_2Hz
+             * GYR_ODR_112_1Hz
+             * GYR_ODR_56_05Hz
+             * GYR_ODR_28_025H
+             * */
+            SensorQMI8658::GYR_ODR_896_8Hz,
+            /*
+            *  LPF_MODE_0     //2.66% of ODR
+            *  LPF_MODE_1     //3.63% of ODR
+            *  LPF_MODE_2     //5.39% of ODR
+            *  LPF_MODE_3     //13.37% of ODR
+            * */
+            SensorQMI8658::LPF_MODE_3,
+            // selfTest enable
+            true);
+
         // In 3DOF mode,
         imu_qmi8658.enableAccelerometer();
 
@@ -1303,7 +1336,16 @@ static void ESP32_loop()
       if (imu_qmi8658.getDataReady()) {
         float a_x, a_y, a_z;
         if (imu_qmi8658.getAccelerometer(a_x, a_y, a_z)) {
-          IMU_g_x10 = (int) (sqrtf(a_x*a_x + a_y*a_y + a_z*a_z) * 4 * 10);
+#if 0
+            Serial.print("{ACCEL: ");
+            Serial.print(a_x);
+            Serial.print(",");
+            Serial.print(a_y);
+            Serial.print(",");
+            Serial.print(a_z);
+            Serial.println("}");
+#endif
+          IMU_g_x10 = (int) (sqrtf(a_x*a_x + a_y*a_y + a_z*a_z) * 10);
         }
       }
       break;

diff --git a/software/firmware/source/SoftRF/src/platform/nRF52.cpp b/software/firmware/source/SoftRF/src/platform/nRF52.cpp
@@ -1365,7 +1365,6 @@ static nRF52_display_id nRF52_EPD_ident()
  *  00 00 00 00 00 FF 40 00 00 00 01 - D67 SYX 1942
  *  00 00 00 FF 00 00 40 01 00 00 00 - D67 SYX 2118
  *  00 00 00 FF 00 00 40 01 00 00 00 - D67 SYX 2129
-
  *
  *  0x2E:
  *  00 00 00 00 00 00 00 00 00 00    - C1

diff --git a/software/firmware/source/libraries/OGN/freqplan.h b/software/firmware/source/libraries/OGN/freqplan.h
@@ -38,13 +38,13 @@ class FreqPlan
      switch (Protocol)
      {
       case RF_PROTOCOL_P3I:
-        { BaseFreq=869525000; ChanSepar= 200000; Channels= 1; MaxTxPower =  27; }
+        { BaseFreq= 869525000; ChanSepar= 200000; Channels= 1; MaxTxPower =  27; }
         break;
       case RF_PROTOCOL_ADSB_1090:
-        { BaseFreq=869525000; ChanSepar=2000000; Channels= 1; MaxTxPower = -10; }
+        { BaseFreq=1090000000; ChanSepar=2000000; Channels= 1; MaxTxPower = -10; }
         break;
       case RF_PROTOCOL_ADSB_UAT:
-        { BaseFreq=978000000; ChanSepar=2000000; Channels= 1; MaxTxPower = -10; }
+        { BaseFreq= 978000000; ChanSepar=2000000; Channels= 1; MaxTxPower = -10; }
         break;
       case RF_PROTOCOL_FANET:
         switch (Plan)