From 4c74768131758a559cd4f680a83678f7b030dd49 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 9 Aug 2026 22:42:14 +0300 Subject: [PATCH] Fixes --- flix/imu.ino | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/flix/imu.ino b/flix/imu.ino index a0c2ead..2cc84a2 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -13,7 +13,7 @@ IMU *imu; int imuModel = -1; int imuBus = 0; // 0 - SPI, 1 - I2C -int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = -1, imuIntPin = -1; +int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = SS, imuIntPin = -1; int imuSdaPin = SDA, imuSclPin = SCL; Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles @@ -29,17 +29,16 @@ LowPassFilter gyroBiasFilter(0.001); void setupIMU() { print("Setup IMU\n"); free(imu); - if (imuBus == 0 && imuCsPin > 0) { + if (imuBus == 0) { // SPI connection - SPI.begin(imuSckPin, imuMisoPin, imuMosiPin); + SPI.begin(imuSckPin, imuMisoPin, imuMosiPin); // SPI connection imu = IMU::create(imuModel, SPI, imuCsPin, imuIntPin); - imu->begin(); - } else if (imuBus == 1) { + } else { // I2C connection Wire.setPins(imuSdaPin, imuSclPin); imu = IMU::create(imuModel, Wire, imuIntPin); - imu->begin(); } + imu->begin(); configureIMU(); }