diff options
Diffstat (limited to 'apps/drivers/mpu6000/mpu6000.cpp')
| -rw-r--r-- | apps/drivers/mpu6000/mpu6000.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index 70e3e41c5..7576fc1d9 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -367,7 +367,7 @@ MPU6000::init() // FS & DLPF FS=2000¼/s, DLPF = 98Hz (low pass filter) write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ); usleep(1000); - write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000¼/s + write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); // Gyro scale 2000¼/s usleep(1000); // product-specific scaling @@ -390,15 +390,16 @@ MPU6000::init() case MPU6000_REV_D9: case MPU6000_REV_D10: // Accel scale 8g (4096 LSB/g) - write_reg(MPUREG_ACCEL_CONFIG,2<<3); + write_reg(MPUREG_ACCEL_CONFIG, 2 << 3); break; } + usleep(1000); // INT CFG => Interrupt on Data Ready - write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN); // INT: Raw data ready + write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready usleep(1000); - write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read + write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read usleep(1000); // Oscillator set @@ -898,6 +899,7 @@ mpu6000_main(int argc, char *argv[]) g_dev = nullptr; return -EIO; } + return OK; } |