diff options
| author | Keith Packard <keithp@keithp.com> | 2013-05-14 10:31:25 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-05-14 10:31:25 -0700 |
| commit | d4433ae7bed92503db65a60cc1bdc97ea7334444 (patch) | |
| tree | b3abbe542ff8ae625f3b01c917809a8148ba4789 | |
| parent | ba9c1fb12ca23ef07732dc30c86ef78a3f752123 (diff) | |
altos: MPU6000 debug hacking
The 'I' command dumps the who-am-i register. the thread isn't running.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/drivers/ao_mpu6000.c | 5 | ||||
| -rw-r--r-- | src/telemega-v0.3/ao_pins.h | 2 |
2 files changed, 5 insertions, 2 deletions
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index 7bc37488..9bb99132 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -305,6 +305,7 @@ static struct ao_task ao_mpu6000_task; static void ao_mpu6000_show(void) { +#if 0 struct ao_data sample; ao_data_get(&sample); @@ -315,6 +316,8 @@ ao_mpu6000_show(void) sample.mpu6000.gyro_x, sample.mpu6000.gyro_y, sample.mpu6000.gyro_z); +#endif + printf ("who-am-i: %02x\n", ao_mpu6000_reg_read(MPU6000_WHO_AM_I)); } static const struct ao_cmds ao_mpu6000_cmds[] = { @@ -327,7 +330,7 @@ ao_mpu6000_init(void) { ao_mpu6000_configured = 0; - ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000"); +// ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000"); ao_cmd_register(&ao_mpu6000_cmds[0]); } #endif diff --git a/src/telemega-v0.3/ao_pins.h b/src/telemega-v0.3/ao_pins.h index caeda31f..bace5853 100644 --- a/src/telemega-v0.3/ao_pins.h +++ b/src/telemega-v0.3/ao_pins.h @@ -308,7 +308,7 @@ struct ao_adc { * mpu6000 */ -#define HAS_MPU6000 0 +#define HAS_MPU6000 1 #define AO_MPU6000_INT_PORT (&stm_gpioe) #define AO_MPU6000_INT_PIN 0 #define AO_MPU6000_SPI_BUS AO_SPI_1_PE13_PE14_PE15 |