diff options
Diffstat (limited to 'src/drivers/l3gd20/l3gd20.cpp')
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 98098c83b..1ffca2f43 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -333,8 +333,13 @@ L3GD20::init() write_reg(ADDR_CTRL_REG4, REG4_BDU); write_reg(ADDR_CTRL_REG5, 0); - write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ - write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */ + + write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ + + /* disable FIFO. This makes things simpler and ensures we + * aren't getting stale data. It means we must run the hrt + * callback fast enough to not miss data. */ + write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); set_range(500); /* default to 500dps */ set_samplerate(0); /* max sample rate */ |