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mechanical style fixups

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px4dev
2012-08-14 08:47:04 -07:00
parent 92a1fab0fd
commit 34118c72ef
10 changed files with 84 additions and 67 deletions
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apps/drivers/mpu6000/mpu6000.cpp
+6 -4
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@@ -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;
}