X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.c;h=7c9d6b6bffaa343469576c4429bf4d883fad69d5;hb=HEAD;hp=dd3da8dee3837f504a6df05d4633a0d5e03bf9cf;hpb=a0298477a4acfbfd78ab8dd150ee480bd14bd073;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index dd3da8de..e5594a66 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -32,7 +32,7 @@ static uint8_t	ao_mpu6000_configured;
 
 #if AO_MPU6000_SPI
 
-#define AO_MPU6000_SPI_SPEED	ao_spi_speed(1000000)	/* 1Mhz for all register access */
+#define AO_MPU6000_SPI_SPEED	ao_spi_speed(AO_MPU6000_SPI_BUS, 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)
@@ -113,7 +113,7 @@ _ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
 	/* byte swap */
 	while (i--) {
 		uint16_t	t = *d;
-		*d++ = (t >> 8) | (t << 8);
+		*d++ = (uint16_t) ((t >> 8) | (t << 8));
 	}
 #endif
 }
@@ -357,14 +357,23 @@ static struct ao_task ao_mpu6000_task;
 static void
 ao_mpu6000_show(void)
 {
-	printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d id %02x\n",
+#ifdef AO_LOG_NORMALIZED
+	printf ("MPU6000: %7d %7d %7d %7d %7d %7d\n",
+		ao_mpu6000_along(&ao_mpu6000_current),
+		ao_mpu6000_across(&ao_mpu6000_current),
+		ao_mpu6000_through(&ao_mpu6000_current),
+		ao_mpu6000_roll(&ao_mpu6000_current),
+		ao_mpu6000_pitch(&ao_mpu6000_current),
+		ao_mpu6000_yaw(&ao_mpu6000_current));
+#else
+	printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
 		ao_mpu6000_current.accel_x,
 		ao_mpu6000_current.accel_y,
 		ao_mpu6000_current.accel_z,
 		ao_mpu6000_current.gyro_x,
 		ao_mpu6000_current.gyro_y,
-		ao_mpu6000_current.gyro_z,
-		mpu_id);
+		ao_mpu6000_current.gyro_z);
+#endif
 }
 
 static const struct ao_cmds ao_mpu6000_cmds[] = {