first cut at turnon scripts for EasyTimer v2

[fw/altos] / src / drivers / ao_mpu6000.c

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 8c85ab01fd82c00041128a9147e3f6a26f2caa39..e5594a662c6dfcb62f6d11e0acd1a78565bd2ce1 100644 (file)
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -32,7 +32,9 @@ static uint8_t        ao_mpu6000_configured;
 
 #if AO_MPU6000_SPI
 
-#define ao_mpu6000_spi_get()   ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz)
+#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)
 
 #define ao_mpu6000_spi_start()         ao_spi_set_cs(AO_MPU6000_SPI_CS_PORT,   \
@@ -111,7 +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
 }
@@ -162,6 +164,8 @@ ao_mpu6000_gyro_check(int16_t normal, int16_t test)
        return 0;
 }
 
+static uint8_t mpu_id;
+
 static void
 _ao_mpu6000_wait_alive(void)
 {
@@ -170,11 +174,11 @@ _ao_mpu6000_wait_alive(void)
        /* Wait for the chip to wake up */
        for (i = 0; i < 30; i++) {
                ao_delay(AO_MS_TO_TICKS(100));
-               if (_ao_mpu6000_reg_read(MPU6000_WHO_AM_I) == 0x68)
-                       break;
+               mpu_id = _ao_mpu6000_reg_read(MPU6000_WHO_AM_I);
+               if (mpu_id == 0x68)
+                       return;
        }
-       if (i == 30)
-               ao_panic(AO_PANIC_SELF_TEST_MPU6000);
+       AO_SENSOR_ERROR(AO_DATA_MPU6000);
 }
 
 #define ST_TRIES       10
@@ -305,7 +309,7 @@ _ao_mpu6000_setup(void)
        }
 
        if (st_tries == ST_TRIES)
-               ao_sensor_errors = 1;
+               AO_SENSOR_ERROR(AO_DATA_MPU6000);
 
        /* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
        _ao_mpu6000_reg_write(MPU6000_CONFIG,
@@ -353,6 +357,15 @@ static struct ao_task ao_mpu6000_task;
 static void
 ao_mpu6000_show(void)
 {
+#ifdef AO_LOG_NORMALIZED
+       printf ("MPU6000: %7d %7d %7d %7d %7d %7d\n",
+               ao_mpu6000_along(&ao_mpu6000_current),
+               ao_mpu6000_across(&ao_mpu6000_current),
+               ao_mpu6000_through(&ao_mpu6000_current),
+               ao_mpu6000_roll(&ao_mpu6000_current),
+               ao_mpu6000_pitch(&ao_mpu6000_current),
+               ao_mpu6000_yaw(&ao_mpu6000_current));
+#else
        printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
                ao_mpu6000_current.accel_x,
                ao_mpu6000_current.accel_y,
@@ -360,6 +373,7 @@ ao_mpu6000_show(void)
                ao_mpu6000_current.gyro_x,
                ao_mpu6000_current.gyro_y,
                ao_mpu6000_current.gyro_z);
+#endif
 }
 
 static const struct ao_cmds ao_mpu6000_cmds[] = {
@@ -383,7 +397,7 @@ ao_mpu6000_init(void)
         */
 
        ao_cur_task = &ao_mpu6000_task;
-       ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
+       ao_mpu6000_spi_get();
        ao_cur_task = NULL;
 #endif