diff options
Diffstat (limited to 'gyro.c')
| -rw-r--r-- | gyro.c | 7 |
1 files changed, 3 insertions, 4 deletions
@@ -42,9 +42,8 @@ ISR(PCINT0_vect) { } void gyroInit () { - /* set PB1 to input, with pull-up */ + /* set PB1 to input */ DDRB = DDRB & ~((1 << DDB1)); - PORTB = PORTB | (1 << PORTB1); /* enable interrupt PCI0 */ PCICR = PCICR | (1 << PCIE0); /* enable interrupts on PB1/PCINT1 */ @@ -56,10 +55,10 @@ void gyroStart () { /* configuration: * disable power-down-mode, enable z * defaults - * low-active (does not work?), push-pull, drdy on int2 + * high-active, push-pull, drdy on int2 * select 2000dps */ - uint8_t data[] = {0b00001100, 0b0, 0b00101000, 0b00110000}; + uint8_t data[] = {0b00001100, 0b0, 0b00001000, 0b00110000}; if (!twRequest (TWM_WRITE, L3GD20, L3GD20_CTRLREG1, data, sizeof (data)/sizeof (*data))) { |