From 013cfbf18242856be52af40ec8dc881994ec6c37 Mon Sep 17 00:00:00 2001
From: Lars Wilko Sentse <lars.wilko.sentse@rwth-aachen.de>
Date: Thu, 13 Jun 2024 21:03:52 +0200
Subject: [PATCH] added startup values for range and bandwidth

---
 src/bmi088.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/bmi088.cpp b/src/bmi088.cpp
index d17a5c1..b5c2689 100644
--- a/src/bmi088.cpp
+++ b/src/bmi088.cpp
@@ -17,9 +17,17 @@ namespace sta
     	busRead(GYROSCOPE, BMI088_REG_GYRO_CHIP_ID, &id);
     	if(id != BMI088_GYRO_CHIP_ID) return false;
 
+    	setGyroscopeRange(GyroRange::ONETHOUSAND);
+    	setGyroscopeBandwidth(GyroBandwidth::TWOHUNDRED_SIXTYFOUR);
+    	setGyroscopeMode(GyroMode::NORMAL_AWAKE);
+
     	busRead(ACCELEROMETER, BMI088_REG_ACC_CHIP_ID, &id);
     	if(id != BMI088_ACC_CHIP_ID) return false;
 
+    	setAccelerometerRange(AccelRange::TWENTYFOURG);
+    	setAccelerometerBandwidth(AccelBandwidth::NORMAL_BANDWIDTH, AccelODR::ONEHUNDRED);
+    	setAccelerometerMode(AccelMode::ON);
+
     	return true;
     }