altos: Allow MPU9250 SPI speed to be set by application

Rather than requiring 1MHz

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/drivers/ao_mpu9250.c b/src/drivers/ao_mpu9250.c
index 1b31edf4611754fe1b8c8d8fe52562b161e8579e..0597a81c57fbc8677bc64d93002db7d0d0ca88b5 100644 (file)
--- 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_1MHz
+#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]);