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mpu6000: monitor some more registers

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Andrew Tridgell
2014-12-29 20:44:05 +11:00
committed by Thomas Gubler
parent e5d3c80686
commit b157466608
1 changed files with 6 additions and 2 deletions
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src/drivers/mpu6000/mpu6000.cpp
+6 -2
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@@ -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 };
/**