Low-pass filter LSM6DS3TR-C accelerometer on-chip #35870
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Since the FIFO watermark interrupt can't be set to pulsed, it's quite annoying to deal with in the current sensord framework. I've added some logic to clear the FIFO if we don't see any interrupt edges, but I'm not 100% confident in the stability and it's a bit of a hack |
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| # reset chip before init | ||
| self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL3_C, 0b1) | ||
| time.sleep(0.1) |
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reminder to remove this since it will also reset the gyro settings
handled it properly here: #35872
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This is needed since we read out the chip at ~104Hz while the anti-aliasing analog filter is 400Hz.
Changes:
The second step doesn't quite hit Nyquist (93Hz > 104Hz/2), but the next "step" in bandwidth reduction would be ODR/50, which would give a bandwidth of 16.7Hz. Not sure if that's preferable @haraschax? Alternatively we can decrease the decimation to get a readout of ~208Hz