X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu9250.c;h=09b65bfa749c8cd7de7b1e5f6ff712d5cc602c74;hb=341157c7415fcf879696c9d8167722a0c5ff264c;hp=1b31edf4611754fe1b8c8d8fe52562b161e8579e;hpb=8b2e457db8c4536440ecd7dc35d06f827fc008dc;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu9250.c b/src/drivers/ao_mpu9250.c
index 1b31edf4..09b65bfa 100644
--- a/src/drivers/ao_mpu9250.c
+++ b/src/drivers/ao_mpu9250.c
@@ -34,7 +34,11 @@ static uint8_t	ao_mpu9250_configured;
 
 #if AO_MPU9250_SPI
 
-#define ao_mpu9250_spi_get()	ao_spi_get(AO_MPU9250_SPI_BUS, AO_SPI_SPEED_1MHz)
+#ifndef AO_MPU9250_SPI_SPEED
+#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)
 #define ao_mpu9250_spi_put()	ao_spi_put(AO_MPU9250_SPI_BUS)
 
 #define ao_mpu9250_spi_start() 	ao_spi_set_cs(AO_MPU9250_SPI_CS_PORT,	\
@@ -559,7 +563,7 @@ ao_mpu9250_init(void)
 	 */
 
 	ao_cur_task = &ao_mpu9250_task;
-	ao_spi_get(AO_MPU9250_SPI_BUS, AO_SPI_SPEED_1MHz);
+	ao_mpu9250_spi_get();
 	ao_cur_task = NULL;
 #endif
 	ao_cmd_register(&ao_mpu9250_cmds[0]);