X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu9250.c;h=63d8d6d7fe31ffbc32dc8c786dc349df9bfee413;hb=5506b6c1f75d639e2d952213a53bc9ee34e5a79c;hp=0597a81c57fbc8677bc64d93002db7d0d0ca88b5;hpb=6363403d6c08310a16769bf49b8acc45a08bd619;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu9250.c b/src/drivers/ao_mpu9250.c
index 0597a81c..63d8d6d7 100644
--- a/src/drivers/ao_mpu9250.c
+++ b/src/drivers/ao_mpu9250.c
@@ -35,7 +35,7 @@ static uint8_t	ao_mpu9250_configured;
 #if AO_MPU9250_SPI
 
 #ifndef AO_MPU9250_SPI_SPEED
-#define AO_MPU9250_SPI_SPEED	AO_SPI_SPEED_1MHz
+#define AO_MPU9250_SPI_SPEED	ao_spi_speed(AO_MPU9250_SPI_BUS, 1000000)	/* 1MHz max SCLK */
 #endif
 
 #define ao_mpu9250_spi_get()	ao_spi_get(AO_MPU9250_SPI_BUS, AO_MPU9250_SPI_SPEED)
@@ -176,7 +176,7 @@ _ao_mpu9250_sample(struct ao_mpu9250_sample *sample)
 	/* byte swap */
 	while (i--) {
 		uint16_t	t = *d;
-		*d++ = (t >> 8) | (t << 8);
+		*d++ = (uint16_t) ((uint16_t) (t >> 8) | (uint16_t) (t << 8));
 	}
 #endif
 }