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AP_HAL_AVR: Bugfix to SPIDriver_MPU6000 (works now)

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This commit is contained in:
Pat Hickey 2012-09-05 14:52:27 -07:00 committed by Andrew Tridgell
parent 8ffec83b73
commit 177da8ea5b
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_HAL_AVR/examples/SPIDriver_MPU6000/SPIDriver_MPU6000.pde
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@ -17,6 +17,7 @@
const AP_HAL_AVR::HAL_AVR& hal = AP_HAL_AVR_APM2;
const uint8_t _cs_pin = 53;
const uint8_t _baro_cs_pin = 40;
static void register_write(uint8_t reg, uint8_t val) {
hal.gpio->write(_cs_pin, 0);
@ -50,6 +51,8 @@ static void mpu6k_init(void) {
// Wake up device and select GyroZ clock (better performance)
register_write(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
hal.scheduler->delay(1);
register_write(MPUREG_PWR_MGMT_2, 0);
hal.scheduler->delay(1);
// Disable I2C bus (recommended on datasheet)
register_write(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
hal.scheduler->delay(1);
@ -103,6 +106,10 @@ static void setup() {
hal.uart0->begin(115200);
hal.uart0->printf_P(PSTR("Initializing MPU6000\r\n"));
/* Setup the barometer cs to stop it from holding the bus */
hal.gpio->pinMode(_baro_cs_pin, GPIO_OUTPUT);
hal.gpio->write(_baro_cs_pin, 1);
/* Setup CS pin hardware */
hal.gpio->pinMode(_cs_pin, GPIO_OUTPUT);
hal.gpio->write(_cs_pin, 1);