static uint8_t ao_mpu9250_configured;
-extern uint8_t ao_sensor_errors;
-
#ifndef AO_MPU9250_I2C_INDEX
#define AO_MPU9250_SPI 1
#else
#if AO_MPU9250_SPI
-#define ao_mpu9250_spi_get() ao_spi_get(AO_MPU9250_SPI_BUS, AO_SPI_SPEED_1MHz)
+#ifndef AO_MPU9250_SPI_SPEED
+#define AO_MPU9250_SPI_SPEED AO_SPI_SPEED_1MHz
+#endif
+
+#define ao_mpu9250_spi_get() ao_spi_get(AO_MPU9250_SPI_BUS, AO_MPU9250_SPI_SPEED)
#define ao_mpu9250_spi_put() ao_spi_put(AO_MPU9250_SPI_BUS)
#define ao_mpu9250_spi_start() ao_spi_set_cs(AO_MPU9250_SPI_CS_PORT, \
}
if (st_tries == ST_TRIES)
- ao_sensor_errors = 1;
+ AO_SENSOR_ERROR(AO_DATA_MPU9250);
/* Set up the mag sensor */
}
if (mag_tries == MAG_TRIES)
- ao_sensor_errors = 1;
+ AO_SENSOR_ERROR(AO_DATA_MPU9250);
/* Select continuous mode 2 (100Hz), 16 bit samples */
*/
ao_cur_task = &ao_mpu9250_task;
- ao_spi_get(AO_MPU9250_SPI_BUS, AO_SPI_SPEED_1MHz);
+ ao_mpu9250_spi_get();
ao_cur_task = NULL;
#endif
ao_cmd_register(&ao_mpu9250_cmds[0]);