Commit ead2cee8 authored by Daniel Friesel's avatar Daniel Friesel
Browse files

mpu9250: Fix setGyroEnable/setAccelEnable. derp....

parent c3286ffc

src/driver/mpu9250.cc

+6 −6
Original line number Diff line number Diff line
@@ -47,7 +47,7 @@ void MPU9250::setGyroEnable(bool x, bool y, bool z) 
	txbuf[0] = 108;

	i2c.xmit(address, 1, txbuf, 1, txbuf + 1); // not a typo



	txbuf[1] &= 0x07;

	txbuf[1] &= ~0x07;



	if (!x) {

		txbuf[1] |= 4;
@@ -67,7 +67,7 @@ void MPU9250::setAccelEnable(bool x, bool y, bool z) 
	txbuf[0] = 108;

	i2c.xmit(address, 1, txbuf, 1, txbuf + 1); // not a typo



	txbuf[1] &= 0xf8;

	txbuf[1] &= ~0x38;



	if (!x) {

		txbuf[1] |= 1<<5;
@@ -238,7 +238,7 @@ void MPU9250::standby() 
	setGyroStandby(true);

	MagSleep();

	setAccelEnable(false, false, false);

	// TODO setGyroEnable false/true?

	setGyroEnable(true, true, true);

}



void MPU9250::lowPowerAccelOnly(unsigned char rate)
@@ -251,7 +251,7 @@ void MPU9250::lowPowerAccelOnly(unsigned char rate) 
	txbuf[1] = 1<<5;

	i2c.xmit(address, 2, txbuf, 0, rxbuf);

	setGyroEnable(false, false, false);

	// TODO setAccelEnable true?

	setAccelEnable(true, true, true);

}



void MPU9250::accelOnly()
@@ -260,7 +260,7 @@ void MPU9250::accelOnly() 
	AGWakeup();

	MagSleep();

	setGyroEnable(false, false, false);

	// TODO setAccelEnable true?

	setAccelEnable(true, true, true);

}



void MPU9250::gyroOnly()
@@ -269,7 +269,7 @@ void MPU9250::gyroOnly() 
	AGWakeup();

	MagSleep();

	setAccelEnable(false, false, false);

	// TODO setGyroEnable true?

	setGyroEnable(true, true, true);

}



void MPU9250::magnetOnly()