From 9beacd77b3e8106e036e50a67312dfee414fbc51 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 14 May 2013 09:01:49 -0700 Subject: [PATCH] altos: Initialize MPU6000 CS pin for SPI mode Without this, we can't talk to the chip very well Signed-off-by: Keith Packard --- src/drivers/ao_mpu6000.c | 6 ++++++ src/telemega-v0.3/ao_pins.h | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index c65aecbc..fc768cc9 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -19,6 +19,8 @@ #include #include +#if HAS_MPU6000 + static uint8_t ao_mpu6000_wake; static uint8_t ao_mpu6000_configured; @@ -326,5 +328,9 @@ ao_mpu6000_init(void) ao_mpu6000_configured = 0; ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000"); +#ifndef AO_MPU6000_I2C_INDEX + ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN)); +#endif ao_cmd_register(&ao_mpu6000_cmds[0]); } +#endif diff --git a/src/telemega-v0.3/ao_pins.h b/src/telemega-v0.3/ao_pins.h index 88b473cc..bace5853 100644 --- a/src/telemega-v0.3/ao_pins.h +++ b/src/telemega-v0.3/ao_pins.h @@ -308,7 +308,7 @@ struct ao_adc { * mpu6000 */ -#define HAS_MPU6000 1 +#define HAS_MPU6000 1 #define AO_MPU6000_INT_PORT (&stm_gpioe) #define AO_MPU6000_INT_PIN 0 #define AO_MPU6000_SPI_BUS AO_SPI_1_PE13_PE14_PE15 -- 2.30.2