Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / drivers / ao_mpu9250.c

diff --git a/src/drivers/ao_mpu9250.c b/src/drivers/ao_mpu9250.c
index 0597a81c57fbc8677bc64d93002db7d0d0ca88b5..a77abf98dfe7bcfa2d6ce3b8267b1571dd7d642b 100644 (file)
--- a/src/drivers/ao_mpu9250.c
+++ b/src/drivers/ao_mpu9250.c
@@ -35,7 +35,7 @@ static uint8_t        ao_mpu9250_configured;
 #if AO_MPU9250_SPI
 
 #ifndef AO_MPU9250_SPI_SPEED
-#define AO_MPU9250_SPI_SPEED   AO_SPI_SPEED_1MHz
+#define AO_MPU9250_SPI_SPEED   ao_spi_speed(1000000)   /* 1MHz max SCLK */
 #endif
 
 #define ao_mpu9250_spi_get()   ao_spi_get(AO_MPU9250_SPI_BUS, AO_MPU9250_SPI_SPEED)
@@ -176,7 +176,7 @@ _ao_mpu9250_sample(struct ao_mpu9250_sample *sample)
        /* byte swap */
        while (i--) {
                uint16_t        t = *d;
-               *d++ = (t >> 8) | (t << 8);
+               *d++ = (uint16_t) ((uint16_t) (t >> 8) | (uint16_t) (t << 8));
        }
 #endif
 }