- _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
- //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
-
- if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
- (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
- // Accel scale 8g (4096 LSB/g)
- // Rev C has different scaling than rev D
- register_write(MPUREG_ACCEL_CONFIG,1<<3);
- } else {
- // Accel scale 8g (4096 LSB/g)
- register_write(MPUREG_ACCEL_CONFIG,2<<3);
- }
- hal.scheduler->delay(1);
+ _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
+ //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
+
+ if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
+ (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
+ // Accel scale 8g (4096 LSB/g)
+ // Rev C has different scaling than rev D
+ register_write(MPUREG_ACCEL_CONFIG,1<<3);
+ } else {
+ // Accel scale 8g (4096 LSB/g)
+ register_write(MPUREG_ACCEL_CONFIG,2<<3);
+ }
+ hal.scheduler->delay(1);