static uint8_t ao_mpu9250_configured;
-extern uint8_t ao_sensor_errors;
-
#ifndef AO_MPU9250_I2C_INDEX
#define AO_MPU9250_SPI 1
#else
#else
ao_i2c_get(AO_MPU9250_I2C_INDEX);
ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_WRITE);
- ao_i2c_send(d, 2, AO_MPU9250_I2C_INDEX, TRUE);
+ ao_i2c_send(d, 2, AO_MPU9250_I2C_INDEX, true);
ao_i2c_put(AO_MPU9250_I2C_INDEX);
#endif
}
#else
ao_i2c_get(AO_MPU9250_I2C_INDEX);
ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_WRITE);
- ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, FALSE);
+ ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, false);
ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_READ);
- ao_i2c_recv(data, len, AO_MPU9250_I2C_INDEX, TRUE);
+ ao_i2c_recv(data, len, AO_MPU9250_I2C_INDEX, true);
ao_i2c_put(AO_MPU9250_I2C_INDEX);
#endif
}
#else
ao_i2c_get(AO_MPU9250_I2C_INDEX);
ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_WRITE);
- ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, FALSE);
+ ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, false);
ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_READ);
- ao_i2c_recv(&value, 1, AO_MPU9250_I2C_INDEX, TRUE);
+ ao_i2c_recv(&value, 1, AO_MPU9250_I2C_INDEX, true);
ao_i2c_put(AO_MPU9250_I2C_INDEX);
#endif
return value;
}
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 */