#if AO_MPU6000_SPI
-#define AO_MPU6000_SPI_SPEED ao_spi_speed(1000000) /* 1Mhz for all register access */
+#define AO_MPU6000_SPI_SPEED ao_spi_speed(AO_MPU6000_SPI_BUS, 1000000) /* 1Mhz for all register access */
#define ao_mpu6000_spi_get() ao_spi_get(AO_MPU6000_SPI_BUS, AO_MPU6000_SPI_SPEED)
#define ao_mpu6000_spi_put() ao_spi_put(AO_MPU6000_SPI_BUS)
/* byte swap */
while (i--) {
uint16_t t = *d;
- *d++ = (t >> 8) | (t << 8);
+ *d++ = (uint16_t) ((t >> 8) | (t << 8));
}
#endif
}
static void
ao_mpu6000_show(void)
{
- printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d id %02x\n",
+#ifdef AO_LOG_NORMALIZED
+ printf ("MPU6000: %7d %7d %7d %7d %7d %7d\n",
+ ao_mpu6000_along(&ao_mpu6000_current),
+ ao_mpu6000_across(&ao_mpu6000_current),
+ ao_mpu6000_through(&ao_mpu6000_current),
+ ao_mpu6000_roll(&ao_mpu6000_current),
+ ao_mpu6000_pitch(&ao_mpu6000_current),
+ ao_mpu6000_yaw(&ao_mpu6000_current));
+#else
+ printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
ao_mpu6000_current.accel_x,
ao_mpu6000_current.accel_y,
ao_mpu6000_current.accel_z,
ao_mpu6000_current.gyro_x,
ao_mpu6000_current.gyro_y,
- ao_mpu6000_current.gyro_z,
- mpu_id);
+ ao_mpu6000_current.gyro_z);
+#endif
}
static const struct ao_cmds ao_mpu6000_cmds[] = {