X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.c;h=7c9d6b6bffaa343469576c4429bf4d883fad69d5;hb=4fed4123fd40a6fb211b542b7c922ec8b2ae0c6b;hp=81d3c16cc76479f3eb2298fb23292d0d3191714a;hpb=fed48732828c85ae56106cd72c5aeaaad47c552f;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 81d3c16c..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,	\
@@ -55,7 +57,7 @@ _ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
 #else
 	ao_i2c_get(AO_MPU6000_I2C_INDEX);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
-	ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
+	ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, true);
 	ao_i2c_put(AO_MPU6000_I2C_INDEX);
 #endif
 }
@@ -72,9 +74,9 @@ _ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
 #else
 	ao_i2c_get(AO_MPU6000_I2C_INDEX);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
-	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
+	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, false);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
-	ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
+	ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, true);
 	ao_i2c_put(AO_MPU6000_I2C_INDEX);
 #endif
 }
@@ -92,9 +94,9 @@ _ao_mpu6000_reg_read(uint8_t addr)
 #else
 	ao_i2c_get(AO_MPU6000_I2C_INDEX);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
-	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
+	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, false);
 	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
-	ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
+	ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, true);
 	ao_i2c_put(AO_MPU6000_I2C_INDEX);
 #endif
 	return value;
@@ -305,7 +307,7 @@ _ao_mpu6000_setup(void)
 	}
 
 	if (st_tries == ST_TRIES)
-		ao_sensor_errors = 1;
+		AO_SENSOR_ERROR(AO_DATA_MPU6000);
 
 	/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
 	_ao_mpu6000_reg_write(MPU6000_CONFIG,
@@ -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