setGyroBandwidth.cpp

void ReefwingLSM9DS1::setGyroBandwidth(GyroBW bandwidth) {
  uint8_t CTRL_REG1_G = readByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG1_G);

  //  Clear the BW_G bits (0 & 1), maintain the rest
  //  0xFC = 0b11111100, BW_G = 00, bandwidth = LOW (default)
  CTRL_REG1_G &= 0xFC;

  switch(bandwidth) {
    case GyroBW::MIDDLE:    //  BW_G = 01
      CTRL_REG1_G |= 0x01;
      break;
    case GyroBW::HIGHEST:   //  BW_G = 10
      CTRL_REG1_G |= 0x02;
      break;
    case GyroBW::MAXIMUM:   //  BW_G = 11
      CTRL_REG1_G |= 0x03;
      break;
    default:                //  BW_G = 00, bandwidth = LOW (default)
      break;
  }

  _config.gyro.bandwidth = bandwidth;
  writeByte(LSM9DS1AG_ADDRESS, LSM9DS1AG_CTRL_REG1_G, CTRL_REG1_G);
}