_ao_bmx160_wait_alive();
/* Reboot */
- _ao_bmx160_cmd(BMX160_CMD_SOFTRESET);
+// _ao_bmx160_cmd(BMX160_CMD_SOFTRESET);
/* Force SPI mode */
_ao_bmx160_reg_write(BMX160_NV_CONF, 1 << BMX160_NV_CONF_SPI_EN);
*/
_ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL));
+
_ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL));
/* Configure accelerometer:
uint8_t gyr_conf = _ao_bmx160_reg_read(BMX160_GYR_CONF);
uint8_t gyr_range = _ao_bmx160_reg_read(BMX160_GYR_RANGE);
uint8_t mag_conf = _ao_bmx160_reg_read(BMX160_MAG_CONF);
- uint8_t status = _ao_bmx160_reg_read(BMX160_MAG_CONF);
+ uint8_t status = _ao_bmx160_reg_read(BMX160_STATUS);
+ uint8_t pmu_status = _ao_bmx160_reg_read(BMX160_PMU_STATUS);
uint8_t acc_x_lo = _ao_bmx160_reg_read(BMX160_ACCEL_X_0_7);
uint8_t acc_x_hi = _ao_bmx160_reg_read(BMX160_ACCEL_X_8_15);
ao_bmx160_spi_put();
printf("ACC_CONF %02x ACC_RANGE %02x GYR_CONF %02x GYR_RANGE %02x MAG_CONF %02x\n",
acc_conf, acc_range, gyr_conf, gyr_range, mag_conf);
- printf("STATUS %02x ACCEL_X_0_7 %02x ACCEL_X_8_15 %02x\n", status, acc_x_lo, acc_x_hi);
+ printf("STATUS %02x PMU_STATUS %02x ACCEL_X_0_7 %02x ACCEL_X_8_15 %02x\n",
+ status, pmu_status, acc_x_lo, acc_x_hi);
printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n",
ao_bmx160_current.acc_x,