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Code Issues Releases Activity

Fix self test for MPU6000 so it returns negative values per our standard

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This commit is contained in:
James Cotton 2012-06-09 11:18:14 -05:00
parent d2a3e39bbf
commit f5845cb037
2 changed files with 2 additions and 2 deletions
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2
flight/PiOS/Common/pios_mpu6000.c
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@ -354,7 +354,7 @@ float PIOS_MPU6000_GetAccelScale()
* \return 0 if test succeeded * \return 0 if test succeeded
* \return non-zero value if test succeeded * \return non-zero value if test succeeded
*/ */
uint8_t PIOS_MPU6000_Test(void) int32_t PIOS_MPU6000_Test(void)
{ {
/* Verify that ID matches (MPU6000 ID is 0x69) */ /* Verify that ID matches (MPU6000 ID is 0x69) */
int32_t mpu6000_id = PIOS_MPU6000_ReadID(); int32_t mpu6000_id = PIOS_MPU6000_ReadID();

2
flight/PiOS/inc/pios_mpu6000.h
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@ -154,7 +154,7 @@ extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const stru
extern xQueueHandle PIOS_MPU6000_GetQueue(); extern xQueueHandle PIOS_MPU6000_GetQueue();
extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer); extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer);
extern int32_t PIOS_MPU6000_ReadID(); extern int32_t PIOS_MPU6000_ReadID();
extern uint8_t PIOS_MPU6000_Test(); extern int32_t PIOS_MPU6000_Test();
extern float PIOS_MPU6000_GetScale(); extern float PIOS_MPU6000_GetScale();
extern float PIOS_MPU6000_GetAccelScale(); extern float PIOS_MPU6000_GetAccelScale();
extern void PIOS_MPU6000_IRQHandler(void); extern void PIOS_MPU6000_IRQHandler(void);