From 19ed00762bfc078fb22ebd4b02da8aeaf1280efb Mon Sep 17 00:00:00 2001
From: rtlopez <rtlopezdev@gmail.com>
Date: Thu, 21 Sep 2023 11:56:26 +0200
Subject: [PATCH] bmi160 fixes

---
 lib/Espfc/src/Device/GyroBMI160.h | 39 ++++---------------------------
 lib/Espfc/src/Sensor/BaseSensor.h |  3 ---
 2 files changed, 4 insertions(+), 38 deletions(-)

diff --git a/lib/Espfc/src/Device/GyroBMI160.h b/lib/Espfc/src/Device/GyroBMI160.h
index 25f4792f..49ac363e 100644
--- a/lib/Espfc/src/Device/GyroBMI160.h
+++ b/lib/Espfc/src/Device/GyroBMI160.h
@@ -155,11 +155,11 @@ class GyroBMI160: public GyroDevice
       delay(1);
 
       // Enable accel offset
-      _bus->writeBitsBMI160(_addr, BMI160_RA_OFFSET_6, BMI160_ACC_OFFSET_EN, BMI160_ACC_OFFSET_LEN, BMI160_RESULT_OK);
+      //_bus->writeBitsBMI160(_addr, BMI160_RA_OFFSET_6, BMI160_ACC_OFFSET_EN, BMI160_ACC_OFFSET_LEN, BMI160_RESULT_OK);
       delay(1);
 
       // Enable gyro offset
-      _bus->writeBitsBMI160(_addr, BMI160_RA_OFFSET_6, BMI160_GYR_OFFSET_EN, BMI160_GYR_OFFSET_LEN, BMI160_RESULT_OK);
+      //_bus->writeBitsBMI160(_addr, BMI160_RA_OFFSET_6, BMI160_GYR_OFFSET_EN, BMI160_GYR_OFFSET_LEN, BMI160_RESULT_OK);
       delay(1);
 
       // Enable data ready interrupt
@@ -175,7 +175,7 @@ class GyroBMI160: public GyroDevice
       delay(1);
 
       // Set Accel rate 1600HZ
-      _bus->writeByte(_addr, BMI160_RA_ACCEL_CONF, BMI160_ACCEL_RATE_1600HZ);
+      _bus->writeByte(_addr, BMI160_RA_ACCEL_CONF, BMI160_ACCEL_RATE_800HZ);
       delay(1);
 
       // Set Gyro rate 3200HZ
@@ -222,38 +222,7 @@ class GyroBMI160: public GyroDevice
 
     int getRate() const override
     {
-      uint8_t valRate = 0;
-      _bus->readBitsBMI160(_addr, BMI160_RA_GYRO_CONF, BMI160_GYRO_RATE_SEL_BIT, BMI160_GYRO_RATE_SEL_LEN, &valRate);
-
-      switch (valRate)
-      {
-      case BMI160_GYRO_RATE_3200HZ:
-        return 3200;
-        break;
-      case BMI160_GYRO_RATE_1600HZ:
-        return 1600;
-        break;
-      case BMI160_GYRO_RATE_800HZ:
-        return 800;
-        break;
-      case BMI160_GYRO_RATE_400HZ:
-        return 400;
-        break;
-      case BMI160_GYRO_RATE_200HZ:
-        return 200;
-        break;
-      case BMI160_GYRO_RATE_100HZ:
-        return 100;
-        break;
-      case BMI160_GYRO_RATE_50HZ:
-        return 50;
-        break;
-      case BMI160_GYRO_RATE_25HZ:
-        return 25;
-        break;
-      default:
-        return 99; //detect error
-      }
+      return 3200;
     }
 
     void setRate(int rate) override
diff --git a/lib/Espfc/src/Sensor/BaseSensor.h b/lib/Espfc/src/Sensor/BaseSensor.h
index f69c58b3..ac57d5c6 100644
--- a/lib/Espfc/src/Sensor/BaseSensor.h
+++ b/lib/Espfc/src/Sensor/BaseSensor.h
@@ -1,9 +1,6 @@
 #ifndef _ESPFC_SENSOR_BASE_SENSOR_H_
 #define _ESPFC_SENSOR_BASE_SENSOR_H_
 
-#define ESPFC_FUZZY_ACCEL_ZERO 0.05
-#define ESPFC_FUZZY_GYRO_ZERO 0.20
-
 #include "Model.h"
 #include "Hardware.h"