From ad3a3f9366ec14b867e09e30a97d0d83c07326ac Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?V=C3=ADctor=20Mayoral=20Vilches?= Date: Tue, 3 Jun 2014 15:13:28 +0200 Subject: [PATCH] AP_InertialSensor_MPU6000: Fix the CS. --- libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp index f1860e6b1c..6a85650f92 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp @@ -2,7 +2,7 @@ #include #include "AP_InertialSensor_MPU6000.h" -#include "GPIO.h" +#include "../AP_HAL_Linux/GPIO.h" extern const AP_HAL::HAL& hal; @@ -181,7 +181,9 @@ uint16_t AP_InertialSensor_MPU6000::_init_sensor( Sample_rate sample_rate ) _spi = hal.spi->device(AP_HAL::SPIDevice_MPU6000); _spi_sem = _spi->get_semaphore(); - _drdy_pin = hal.gpio->channel(26); // BBB_P8_14 + _drdy_pin = hal.gpio->channel(BBB_P8_14); + // For some reason configuring the pin as an input make the driver fail + //_drdy_pin->mode(GPIO_IN); hal.scheduler->suspend_timer_procs();