X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.c;h=e5594a662c6dfcb62f6d11e0acd1a78565bd2ce1;hb=a724a6b223229f8640740874523aee394350e9c6;hp=79658c552bf2e38b7c917d287523f148df86d271;hpb=8a830c7f9ed41565c72edb85852e2df8bfa351f5;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 79658c55..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
 }