From 6363403d6c08310a16769bf49b8acc45a08bd619 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 28 May 2020 16:00:04 -0700 Subject: [PATCH] altos: Allow MPU9250 SPI speed to be set by application Rather than requiring 1MHz Signed-off-by: Keith Packard --- src/drivers/ao_mpu9250.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/drivers/ao_mpu9250.c b/src/drivers/ao_mpu9250.c index 1b31edf4..0597a81c 100644 --- 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]); -- 2.30.2