From ef420a254438a1d3f011278226bd42e3f621b293 Mon Sep 17 00:00:00 2001
From: Staroselskii Georgii <gosha371@gmail.com>
Date: Wed, 5 Nov 2014 16:20:29 +0300
Subject: [PATCH] AP_HAL_Linux: changed SPI mode for MPU9250
---
libraries/AP_HAL_Linux/SPIDriver.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/libraries/AP_HAL_Linux/SPIDriver.cpp b/libraries/AP_HAL_Linux/SPIDriver.cpp
index 685bca98e..9418c8c45 100644
--- a/libraries/AP_HAL_Linux/SPIDriver.cpp
+++ b/libraries/AP_HAL_Linux/SPIDriver.cpp
@@ -34,7 +34,7 @@ LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
- LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, RPI_GPIO_7, 1*MHZ, 16*MHZ),
+ LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ, 16*MHZ),
LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, RPI_GPIO_8, 1*MHZ, 4*MHZ),
};
#else
--
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