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| author | Andrew Tridgell <andrew@tridgell.net> | 2014-12-29 20:44:05 +1100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-30 20:55:57 +0100 |
| commit | b1574666084b64b43b241a56ac01596035ebccdf (patch) | |
| tree | 18d302ea4d1cdfbb6392a25a2fe285a6f5f10b41 | |
| parent | e5d3c80686ff27210887f60d8e024fa5635829b6 (diff) | |
| download | px4-firmware-b1574666084b64b43b241a56ac01596035ebccdf.tar.gz px4-firmware-b1574666084b64b43b241a56ac01596035ebccdf.tar.bz2 px4-firmware-b1574666084b64b43b241a56ac01596035ebccdf.zip | |
mpu6000: monitor some more registers
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 2559c73e0..91eb40b96 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -263,7 +263,7 @@ private: // this is used to support runtime checking of key // configuration registers to detect SPI bus errors and sensor // reset -#define MPU6000_NUM_CHECKED_REGISTERS 5 +#define MPU6000_NUM_CHECKED_REGISTERS 9 static const uint8_t _checked_registers[MPU6000_NUM_CHECKED_REGISTERS]; uint8_t _checked_values[MPU6000_NUM_CHECKED_REGISTERS]; uint8_t _checked_next; @@ -418,10 +418,14 @@ private: that MPUREG_PRODUCT_ID must be first in the list. */ const uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS] = { MPUREG_PRODUCT_ID, + MPUREG_PWR_MGMT_1, + MPUREG_CONFIG, MPUREG_GYRO_CONFIG, MPUREG_ACCEL_CONFIG, MPUREG_USER_CTRL, - MPUREG_PWR_MGMT_1}; + MPUREG_INT_ENABLE, + MPUREG_INT_PIN_CFG, + MPUREG_SMPLRT_DIV }; /** |