altos: More bmx160 debugging

[fw/altos] / src / drivers / ao_bmx160.c

diff --git a/src/drivers/ao_bmx160.c b/src/drivers/ao_bmx160.c
index 0cb663845fce1d53cfea2437a9b5cc7b1ecaf00b..0c503d28bc62f7d4abd42d8d2c719f5b75d29e3d 100644 (file)
--- a/src/drivers/ao_bmx160.c
+++ b/src/drivers/ao_bmx160.c
@@ -183,6 +183,8 @@ _ao_bmx160_wait_alive(void)
 static void
 _ao_bmx160_setup(void)
 {
+       int r;
+
        if (ao_bmx160_configured)
                return;
 
@@ -216,6 +218,9 @@ _ao_bmx160_setup(void)
                             (BMX160_ACC_CONF_ACC_ODR_200 << BMX160_ACC_CONF_ACC_ODR));
        _ao_bmx160_reg_write(BMX160_ACC_RANGE,
                             BMX160_ACC_RANGE_16G);
+       for (r = 0x4; r <= 0x17; r++)
+               (void) _ao_bmx160_reg_read(r);
+
 
        /* Configure gyro:
         *
@@ -319,11 +324,16 @@ ao_bmx160_show(void)
        uint8_t gyr_conf = _ao_bmx160_reg_read(BMX160_GYR_CONF);
        uint8_t gyr_range = _ao_bmx160_reg_read(BMX160_GYR_RANGE);
        uint8_t mag_conf = _ao_bmx160_reg_read(BMX160_MAG_CONF);
+       uint8_t status = _ao_bmx160_reg_read(BMX160_MAG_CONF);
+       uint8_t acc_x_lo = _ao_bmx160_reg_read(BMX160_ACCEL_X_0_7);
+       uint8_t acc_x_hi = _ao_bmx160_reg_read(BMX160_ACCEL_X_8_15);
        ao_bmx160_spi_put();
 
        printf("ACC_CONF %02x ACC_RANGE %02x GYR_CONF %02x GYR_RANGE %02x MAG_CONF %02x\n",
               acc_conf, acc_range, gyr_conf, gyr_range, mag_conf);
 
+       printf("STATUS %02x ACCEL_X_0_7 %02x ACCEL_X_8_15 %02x\n", status, acc_x_lo, acc_x_hi);
+
        printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n",
                ao_bmx160_current.acc_x,
                ao_bmx160_current.acc_y,