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[apogee] fix baro mpl3115 init on apogee

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This commit is contained in:
Gautier Hattenberger
2013-10-08 16:17:47 +02:00
parent d401dd83df
commit 934e4838b0
2 changed files with 13 additions and 0 deletions
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sw/airborne/boards/apogee/imu_apogee.c
+11
View File
@@ -61,6 +61,13 @@ PRINT_CONFIG_VAR(APOGEE_ACCEL_RANGE)
struct ImuApogee imu_apogee;
// baro config will be done later in bypass mode
bool_t configure_baro_slave(Mpu60x0ConfigSet mpu_set, void* mpu);
bool_t configure_baro_slave(Mpu60x0ConfigSet mpu_set __attribute__ ((unused)), void* mpu __attribute__ ((unused))) {
return TRUE;
}
void imu_impl_init(void)
{
/////////////////////////////////////////////////////////////////////
@@ -71,6 +78,10 @@ void imu_impl_init(void)
imu_apogee.mpu.config.dlpf_cfg = APOGEE_LOWPASS_FILTER;
imu_apogee.mpu.config.gyro_range = APOGEE_GYRO_RANGE;
imu_apogee.mpu.config.accel_range = APOGEE_ACCEL_RANGE;
// set MPU in bypass mode for the baro
imu_apogee.mpu.config.nb_slaves = 1;
imu_apogee.mpu.config.slaves[0].configure = &configure_baro_slave;
imu_apogee.mpu.config.i2c_bypass = TRUE;
imu_apogee.gyr_valid = FALSE;
imu_apogee.acc_valid = FALSE;
sw/airborne/modules/sensors/baro_mpl3115.h
+2
View File
@@ -29,4 +29,6 @@ extern void baro_mpl3115_init( void );
extern void baro_mpl3115_read_periodic( void );
extern void baro_mpl3115_read_event( void );
#define BaroMpl3115Update(_b, _h) { if (mpl3115_data_available) { _b = mpl3115_pressure; _h(); mpl3115_data_available = FALSE; } }
#endif