icm20948 incorrect register for gyro DLPF

[ydvo]

Answers checklist.

• I have read the documentation ESP-IDF Programming Guide and the issue is not addressed there.
• I have searched the issue tracker for a similar issue and not found a similar issue.

What is the expected behavior?

Calling set_gyroscope_dlpf_enabled(true, ec) from icm20948 component enables low pass filter

What is the actual behavior?

Doesn't enable low pass filter and sometimes returns an error.

Steps to reproduce.

Call set_gyroscope_dlpf_enabled(true, ec)

Build or installation Logs.

More Information.

From line 531 of icm20948.cpp:

template <espp::icm20948::Interface I>
bool Icm20948<I>::set_gyroscope_dlpf_enabled(bool enable, std::error_code &ec) {
  std::lock_guard<std::recursive_mutex> lock(base_mutex_);
  // select bank 2
  if (!select_bank(Bank::_2, ec)) {
    return false;
  }
  uint8_t bitmask = 0x01; // enable DLPF is bit 0 in GYRO_CONFIG_1
  set_bits_in_register_by_mask(static_cast<uint8_t>(RegisterBank2::GYRO_CONFIG_2), bitmask,
                               enable ? bitmask : 0, ec);
  return !ec;
}

Both comment and page 59 of datasheet indicate enable bit is is in GYRO_CONFIG_1 register not config_2

[finger563]

Thanks for flagging @ydvo i've got a PR up which should be merged shortly!