diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/driver/mpu9250.cc | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/driver/mpu9250.cc b/src/driver/mpu9250.cc index 58796c5..32f78c7 100644 --- a/src/driver/mpu9250.cc +++ b/src/driver/mpu9250.cc @@ -47,7 +47,7 @@ void MPU9250::setGyroEnable(bool x, bool y, bool z) txbuf[0] = 108; i2c.xmit(address, 1, txbuf, 1, txbuf + 1); // not a typo - txbuf[1] &= 0x07; + txbuf[1] &= ~0x07; if (!x) { txbuf[1] |= 4; @@ -67,7 +67,7 @@ void MPU9250::setAccelEnable(bool x, bool y, bool z) txbuf[0] = 108; i2c.xmit(address, 1, txbuf, 1, txbuf + 1); // not a typo - txbuf[1] &= 0xf8; + txbuf[1] &= ~0x38; if (!x) { txbuf[1] |= 1<<5; @@ -238,7 +238,7 @@ void MPU9250::standby() setGyroStandby(true); MagSleep(); setAccelEnable(false, false, false); - // TODO setGyroEnable false/true? + setGyroEnable(true, true, true); } void MPU9250::lowPowerAccelOnly(unsigned char rate) @@ -251,7 +251,7 @@ void MPU9250::lowPowerAccelOnly(unsigned char rate) txbuf[1] = 1<<5; i2c.xmit(address, 2, txbuf, 0, rxbuf); setGyroEnable(false, false, false); - // TODO setAccelEnable true? + setAccelEnable(true, true, true); } void MPU9250::accelOnly() @@ -260,7 +260,7 @@ void MPU9250::accelOnly() AGWakeup(); MagSleep(); setGyroEnable(false, false, false); - // TODO setAccelEnable true? + setAccelEnable(true, true, true); } void MPU9250::gyroOnly() @@ -269,7 +269,7 @@ void MPU9250::gyroOnly() AGWakeup(); MagSleep(); setAccelEnable(false, false, false); - // TODO setGyroEnable true? + setGyroEnable(true, true, true); } void MPU9250::magnetOnly() |