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AP_InertialSensor_MPU6000: Correct DRDY pin.

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This commit is contained in:
Víctor Mayoral Vilches 2014-05-25 22:58:20 +02:00 committed by Andrew Tridgell
parent 70aafa380e
commit d9cb29ea8b
2 changed files with 3 additions and 5 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -2,6 +2,7 @@
#include <AP_HAL.h>
#include "AP_InertialSensor_MPU6000.h"
#include "GPIO.h"
extern const AP_HAL::HAL& hal;
@ -180,10 +181,7 @@ uint16_t AP_InertialSensor_MPU6000::_init_sensor( Sample_rate sample_rate )
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU6000);
_spi_sem = _spi->get_semaphore();
/* Pin 70 defined especially to hook
up PE6 to the hal.gpio abstraction.
(It is not a valid pin under Arduino.) */
_drdy_pin = hal.gpio->channel(70);
_drdy_pin = hal.gpio->channel(26); // BBB_P8_14
hal.scheduler->suspend_timer_procs();

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
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@ -9,7 +9,7 @@
#include <AP_Progmem.h>
#include "AP_InertialSensor.h"
#define MPU6000_CS_PIN 53 // APM pin connected to mpu6000's chip select pin
#define MPU6000_CS_PIN 113 // Corresponding to P9_28
// enable debug to see a register dump on startup
#define MPU6000_DEBUG 0