X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.c;h=7c9d6b6bffaa343469576c4429bf4d883fad69d5;hb=3af81a45be69b4693396de4a5e2c386be566b933;hp=c894239ec0e54ae0934781886c44a759e8bcc38b;hpb=8b2e457db8c4536440ecd7dc35d06f827fc008dc;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index c894239e..7c9d6b6b 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -32,7 +32,9 @@ static uint8_t	ao_mpu6000_configured;
 
 #if AO_MPU6000_SPI
 
-#define ao_mpu6000_spi_get()	ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz)
+#define AO_MPU6000_SPI_SPEED	ao_spi_speed(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)
 
 #define ao_mpu6000_spi_start() 	ao_spi_set_cs(AO_MPU6000_SPI_CS_PORT,	\
@@ -383,7 +385,7 @@ ao_mpu6000_init(void)
 	 */
 
 	ao_cur_task = &ao_mpu6000_task;
-	ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
+	ao_mpu6000_spi_get();
 	ao_cur_task = NULL;
 #endif