From 6c8c1f438bb7a2f80dd9c7f2b86d572ca1454e63 Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Wed, 6 Apr 2011 12:00:20 +0200
Subject: [PATCH] Bringing the SPI and UART drivers closer together

---
 conf/modules/ins_chimu_spi.xml          | 2 +-
 sw/airborne/modules/ins/ins_chimu_spi.c | 4 +---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/conf/modules/ins_chimu_spi.xml b/conf/modules/ins_chimu_spi.xml
index cfced9f4c7..0582e64072 100644
--- a/conf/modules/ins_chimu_spi.xml
+++ b/conf/modules/ins_chimu_spi.xml
@@ -12,7 +12,7 @@
     <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_module.h\\\""/>
     
     <define name="USE_SPI" />
-    <define name="SPI_SLAVE" />
+    <define name="INS_LINK" value="SpiSlave"/>
     <file name="ins_chimu_spi.c"/>
     <file name="imu_chimu.c"/>
   </makefile>
diff --git a/sw/airborne/modules/ins/ins_chimu_spi.c b/sw/airborne/modules/ins/ins_chimu_spi.c
index 978b4456c2..4fbd8f4188 100644
--- a/sw/airborne/modules/ins/ins_chimu_spi.c
+++ b/sw/airborne/modules/ins/ins_chimu_spi.c
@@ -35,8 +35,6 @@ INS_FORMAT ins_pitch_neutral;
 
 volatile uint8_t new_ins_attitude;
 
-#define INS_LINK	SpiSlave
-
 void ins_init( void ) 
 {
   uint8_t rate[12] = {0xae, 0xae, 0x06, 0xaa, 0x10, 0x05, 0xff, 0x79, 0x00, 0x00, 0xab, 0x76 };	// 50Hz attitude only + SPI
@@ -56,7 +54,7 @@ void ins_init( void )
   {
     InsSend1(quaternions[i]);
   }
-  // Wait a second
+  // Wait a bit (SPI send zero)
   InsSend1(0);
   InsSend1(0);
   InsSend1(0);