From 5b152c8515de5b23872247c8b16dae27404cda4f Mon Sep 17 00:00:00 2001
From: Lars-Dominik Braun <lars@6xq.net>
Date: Tue, 25 Nov 2014 15:12:37 +0100
Subject: gyro: Reduce sensitivity

---
 gyro.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gyro.c b/gyro.c
index ac9ec1c..f291d91 100644
--- a/gyro.c
+++ b/gyro.c
@@ -57,9 +57,9 @@ void gyroStart () {
 	 * disable power-down-mode, enable z
 	 * defaults
 	 * low-active (does not work?), push-pull, drdy on int2
-	 * select 500dps
+	 * select 2000dps
 	 */
-	uint8_t data[] = {0b00001100, 0b0, 0b00101000, 0b00010000};
+	uint8_t data[] = {0b00001100, 0b0, 0b00101000, 0b00110000};
 
 	if (!twRequest (TWM_WRITE, L3GD20, L3GD20_CTRLREG1, data,
 			sizeof (data)/sizeof (*data))) {
@@ -74,7 +74,7 @@ void gyroStart () {
 /*	calculate ticks for z rotation
  */
 static void gyroProcessTicks () {
-	const uint8_t shift = 14;
+	const uint8_t shift = 13;
 	const uint32_t max = (1 << shift);
 	const uint32_t mask = ~(max-1);
 
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