diff options
Diffstat (limited to 'klippy/extras/icm20948.py')
| -rw-r--r-- | klippy/extras/icm20948.py | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/klippy/extras/icm20948.py b/klippy/extras/icm20948.py index 1aafdd98..2503a473 100644 --- a/klippy/extras/icm20948.py +++ b/klippy/extras/icm20948.py @@ -30,10 +30,15 @@ REG_USER_CTRL = 0x03 REG_PWR_MGMT_1 = 0x06 REG_PWR_MGMT_2 = 0x07 REG_INT_STATUS = 0x19 +REG_BANK_SEL = 0x7F SAMPLE_RATE_DIVS = { 4500: 0x00 } #SET_CONFIG = 0x01 # FIFO mode 'stream' style +SET_BANK_0 = 0x00 +SET_BANK_1 = 0x10 +SET_BANK_2 = 0x20 +SET_BANK_3 = 0x30 SET_ACCEL_CONFIG = 0x04 # 8g full scale, 1209Hz BW, ??? delay 4.5kHz samp rate SET_PWR_MGMT_1_WAKE = 0x01 SET_PWR_MGMT_1_SLEEP= 0x41 @@ -133,7 +138,9 @@ class ICM20948: self.set_reg(REG_ACCEL_SMPLRT_DIV1, SAMPLE_RATE_DIVS[self.data_rate]) self.set_reg(REG_ACCEL_SMPLRT_DIV2, SAMPLE_RATE_DIVS[self.data_rate]) # self.set_reg(REG_CONFIG, SET_CONFIG) # No config register + self.set_reg(REG_BANK_SEL, SET_BANK_2) self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG) + self.set_reg(REG_BANK_SEL, SET_BANK_0) # Reset fifo self.set_reg(REG_FIFO_EN, SET_DISABLE_FIFO) self.set_reg(REG_USER_CTRL, SET_USER_FIFO_RESET) |