#else
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
- ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
+ ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, true);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
#endif
}
#else
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
- ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
+ ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, false);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
- ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
+ ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, true);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
#endif
}
#else
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
- ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
+ ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, false);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
- ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
+ ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, true);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
#endif
return value;
}
if (st_tries == ST_TRIES)
- ao_sensor_errors = 1;
+ AO_SENSOR_ERROR(AO_DATA_MPU6000);
/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
_ao_mpu6000_reg_write(MPU6000_CONFIG,