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fix "BIT_GYRO" definition error.

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"Register 104" bits 2 to 0 are used to reset the analog and digital signal paths of the gyroscope, accelerometer, and temperature sensors. so that 'BIT_GYRO' should be 0x04 instead of 3.
reference: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf @4.27 Register 104 – Signal Path Reset SIGNAL_PATH_RESET

Comment and code behavior do not match.

The code is set to 2000, but the comment is 1000.
This commit is contained in:
terry chen 2019-09-25 23:37:57 +08:00 • committed by mikeller
parent 08e8afa090
commit 159a5670ce
1 changed files with 4 additions and 4 deletions
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8
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
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@ -78,9 +78,9 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro);
#define BIT_RAW_RDY_EN 0x01
#define BIT_I2C_IF_DIS 0x10
#define BIT_INT_STATUS_DATA 0x01
#define BIT_GYRO 3
#define BIT_ACC 2
#define BIT_TEMP 1
#define BIT_GYRO 0x04
#define BIT_ACC 0x02
#define BIT_TEMP 0x01
// Product ID Description for MPU6000
// high 4 bits low 4 bits
@ -195,7 +195,7 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
spiBusWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
delayMicroseconds(15);
// Gyro +/- 1000 DPS Full Scale
// Gyro +/- 2000 DPS Full Scale
spiBusWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delayMicroseconds(15);