From e3a01d8e55e742b456acddfd7251b651f73ae997 Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Wed, 22 Oct 2025 07:50:52 -0500
Subject: [PATCH 1/3] BMI270 - 6k code ; but does not properly work

---
 src/main/drivers/accgyro/accgyro.h   |  1 +
 src/main/drivers/accgyro/gyro_sync.c | 13 +++++++++++--
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h
index 0bcf72738c..ac4192b978 100644
--- a/src/main/drivers/accgyro/accgyro.h
+++ b/src/main/drivers/accgyro/accgyro.h
@@ -69,6 +69,7 @@
 #define GYRO_RATE_1_kHz     1000.0f
 #define GYRO_RATE_1100_Hz   909.09f
 #define GYRO_RATE_3200_Hz   312.5f
+#define GYRO_RATE_6400_Hz   156.25f
 #define GYRO_RATE_8_kHz     125.0f
 #define GYRO_RATE_9_kHz     111.11f
 #define GYRO_RATE_16_kHz    64.0f
diff --git a/src/main/drivers/accgyro/gyro_sync.c b/src/main/drivers/accgyro/gyro_sync.c
index 91ddc1cec6..7015a11f23 100644
--- a/src/main/drivers/accgyro/gyro_sync.c
+++ b/src/main/drivers/accgyro/gyro_sync.c
@@ -65,8 +65,17 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
             gyroConfigMutable()->gyroSampleRateHz = 3200;
             break;
         case BMI_270_SPI:    //bmi270
-            gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
-            gyroConfigMutable()->gyroSampleRateHz = 3200;
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+            if (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) {
+                // 6.4KHz sampling, but data is unfiltered (no hardware DLPF)
+                gyro->gyroRateKHz = GYRO_RATE_6400_Hz;
+                //gyroSampleRateHz = 6400;
+            } else
+#endif
+            {
+                gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
+                gyroConfigMutable()->gyroSampleRateHz = 3200;
+            }
             break;
         default:
             if (gyro_use_32khz) {

From d15ef224826ef95ee57175407307fb0c7f69d7be Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Wed, 22 Oct 2025 08:21:05 -0500
Subject: [PATCH 2/3] fix: sampleRate

---
 src/main/drivers/accgyro/gyro_sync.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/drivers/accgyro/gyro_sync.c b/src/main/drivers/accgyro/gyro_sync.c
index 7015a11f23..5cf2bd262a 100644
--- a/src/main/drivers/accgyro/gyro_sync.c
+++ b/src/main/drivers/accgyro/gyro_sync.c
@@ -69,7 +69,7 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
             if (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) {
                 // 6.4KHz sampling, but data is unfiltered (no hardware DLPF)
                 gyro->gyroRateKHz = GYRO_RATE_6400_Hz;
-                //gyroSampleRateHz = 6400;
+                gyroConfigMutable()->gyroSampleRateHz = 6400;
             } else
 #endif
             {

From 89d0cd5c886fb9123adddb54681090df9666a337 Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Fri, 24 Oct 2025 13:42:02 -0500
Subject: [PATCH 3/3] Fix BMI270 experimental mode initialization order

The BMI270 case in gyroSetSampleRate() checks gyro->hardware_lpf to
determine whether to use experimental 6.4kHz or standard 3.2kHz mode.

This check was happening before the struct member was initialized,
causing it to always evaluate to 0 (GYRO_HARDWARE_LPF_NORMAL) instead
of the configured GYRO_HARDWARE_LPF_EXPERIMENTAL value.

Other IMU sensors are unaffected as they don't reference hardware_lpf
during the sample rate setup phase.
---
 src/main/sensors/gyro.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 6e87a381e0..95219bbb76 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -603,9 +603,9 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor) {
         break;
     }
     // Must set gyro targetLooptime before gyroDev.init and initialisation of filters
-    gyro.targetLooptime = gyroSetSampleRate(&gyroSensor->gyroDev, gyroConfig()->gyro_hardware_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
     gyroSensor->gyroDev.hardware_lpf = gyroConfig()->gyro_hardware_lpf;
     gyroSensor->gyroDev.hardware_32khz_lpf = gyroConfig()->gyro_32khz_hardware_lpf;
+    gyro.targetLooptime = gyroSetSampleRate(&gyroSensor->gyroDev, gyroConfig()->gyro_hardware_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
     gyroSensor->gyroDev.initFn(&gyroSensor->gyroDev);
 #ifndef USE_GYRO_IMUF9001
     if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {