Commit f76186ea authored by Andreas Werner's avatar Andreas Werner
Browse files

Fix HW for MPU

parent d7df11f7
Subproject commit 6b3b6541a5115e81cd62205fd659b603d890e7e0 Subproject commit af19f25252ad9476a4fd6e3ab7105ad3a5c40998
Subproject commit 402401990c58992ad8dd76d01d94d5019ef38739 Subproject commit 7aeafca1aa7370e4d521ca76a2cd8f71f70fa51e
Subproject commit 4ce005fd4430cccf60dd27193ae8ec62fa7be9bf Subproject commit 5d462820e3be69c3da210492eb8adc2d000c09d6
Subproject commit fb4a367608e47c3f90afd4e87c0c646f0ae100f9 Subproject commit ba01c5ce598b573b4a6681c1a564639763eec676
...@@ -254,11 +254,11 @@ struct hardware *hartwareInit(void) { ...@@ -254,11 +254,11 @@ struct hardware *hartwareInit(void) {
mpu = mpu9250_init(MPU9250_ID(0), spi, 0, SPI_OPT_GPIO_DIS, 0); mpu = mpu9250_init(MPU9250_ID(0), spi, 0, SPI_OPT_GPIO_DIS, 0);
CONFIG_ASSERT(mpu); CONFIG_ASSERT(mpu);
# ifdef CONFIG_GYRO # ifdef CONFIG_GYRO
hw.gyro = gyro_init(0); hw.gyro = gyro_init(MPU9250_GYRO_ID(0));
CONFIG_ASSERT(hw.gyro); CONFIG_ASSERT(hw.gyro);
# endif # endif
# ifdef CONFIG_ACCEL # ifdef CONFIG_ACCEL
hw.accel = accel_init(0); hw.accel = accel_init(MPU9250_ACCEL_ID(0));
CONFIG_ASSERT(hw.accel); CONFIG_ASSERT(hw.accel);
# endif # endif
} }
......
...@@ -327,11 +327,11 @@ struct hardware *hartwareInit(void) { ...@@ -327,11 +327,11 @@ struct hardware *hartwareInit(void) {
mpu = mpu9250_init(MPU9250_ID(0), spi, 0, SPI_OPT_GPIO_DIS, 0); mpu = mpu9250_init(MPU9250_ID(0), spi, 0, SPI_OPT_GPIO_DIS, 0);
CONFIG_ASSERT(mpu); CONFIG_ASSERT(mpu);
# ifdef CONFIG_GYRO # ifdef CONFIG_GYRO
hw.gyro = gyro_init(0); hw.gyro = gyro_init(MPU9250_GYRO_ID(0));
CONFIG_ASSERT(hw.gyro); CONFIG_ASSERT(hw.gyro);
# endif # endif
# ifdef CONFIG_ACCEL # ifdef CONFIG_ACCEL
hw.accel = accel_init(0); hw.accel = accel_init(MPU9250_ACCEL_ID(0));
CONFIG_ASSERT(hw.accel); CONFIG_ASSERT(hw.accel);
# endif # endif
} }
...@@ -372,7 +372,7 @@ struct hardware *hartwareInit(void) { ...@@ -372,7 +372,7 @@ struct hardware *hartwareInit(void) {
timer = timer_init(TIMER1_ID, 1, 10, 0); timer = timer_init(TIMER1_ID, 1, 10, 0);
CONFIG_ASSERT(timer); CONFIG_ASSERT(timer);
hw.servo = motor_init(MOTOR_PWM_ID(0)); hw.motor = motor_init(MOTOR_PWM_ID(0));
CONFIG_ASSERT(hw.motor); CONFIG_ASSERT(hw.motor);
pwm = pwm_init(PWM1_ID); pwm = pwm_init(PWM1_ID);
CONFIG_ASSERT(pwm); CONFIG_ASSERT(pwm);
......
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