X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu9250.c;h=a77abf98dfe7bcfa2d6ce3b8267b1571dd7d642b;hb=de37d4a17e8eac517ed00f179c9cd5c09b820dfc;hp=74e444a9d0950ba21a4439d19a5adcc5999a0f3c;hpb=0686a7b8aec524d81bda4c572549a3a068ce0eed;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu9250.c b/src/drivers/ao_mpu9250.c
index 74e444a9..a77abf98 100644
--- a/src/drivers/ao_mpu9250.c
+++ b/src/drivers/ao_mpu9250.c
@@ -26,8 +26,6 @@
 
 static uint8_t	ao_mpu9250_configured;
 
-extern uint8_t ao_sensor_errors;
-
 #ifndef AO_MPU9250_I2C_INDEX
 #define AO_MPU9250_SPI	1
 #else
@@ -36,7 +34,11 @@ extern uint8_t ao_sensor_errors;
 
 #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,	\
@@ -174,7 +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
 }
@@ -361,7 +363,7 @@ _ao_mpu9250_setup(void)
 	}
 
 	if (st_tries == ST_TRIES)
-		ao_sensor_errors = 1;
+		AO_SENSOR_ERROR(AO_DATA_MPU9250);
 
 	/* Set up the mag sensor */
 
@@ -372,7 +374,7 @@ _ao_mpu9250_setup(void)
 	}
 
 	if (mag_tries == MAG_TRIES)
-		ao_sensor_errors = 1;
+		AO_SENSOR_ERROR(AO_DATA_MPU9250);
 
 	/* Select continuous mode 2 (100Hz), 16 bit samples */
 
@@ -561,7 +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]);