diff --git a/baseflight.uvopt b/baseflight.uvopt
index d0f789edd..a588256d7 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -157,23 +157,6 @@
-UV0168AVR -O238 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000
-
-
- 0
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- 0
- 0
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- 1
-
-
- \\baseflight\cli.c\67
-
-
0
@@ -191,6 +174,12 @@
1
cmdline
+
+ 3
+ 1
+ buf
+
+
@@ -495,7 +484,7 @@
0
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+ 1
1
0
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@@ -509,7 +498,7 @@
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.\src\imu.c
imu.c
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.\src\mixer.c
mixer.c
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.\src\mw.c
mw.c
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.\src\sensors.c
sensors.c
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.\src\serial.c
serial.c
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.\src\drv_adxl345.c
drv_adxl345.c
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.\src\drv_i2c.c
drv_i2c.c
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@@ -873,11 +862,11 @@
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.\src\baseflight_startups\startup_stm32f10x_md.s
startup_stm32f10x_md.s
diff --git a/src/drv_adxl345.c b/src/drv_adxl345.c
index c9320742f..c62ea2308 100755
--- a/src/drv_adxl345.c
+++ b/src/drv_adxl345.c
@@ -49,21 +49,23 @@ void adxl345Init(void)
#else
// MWC defaults
i2cWrite(ADXL345_ADDRESS, ADXL345_POWER_CTL, 1 << 3); // register: Power CTRL -- value: Set measure bit 3 on
- // i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, 0x0B); // register: DATA_FORMAT -- value: Set bits 3(full range) and 1 0 on (+/- 16g-range)
- // i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, 0x09); // register: BW_RATE -- value: rate=50hz, bw=20hz
+#if 1
+ i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, 0x0B); // register: DATA_FORMAT -- value: Set bits 3(full range) and 1 0 on (+/- 16g-range)
+ i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, 0x09); // register: BW_RATE -- value: rate=50hz, bw=20hz
+#else
+ // testing
i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, (ADXL_RANGE_8G & 0x03) | ADXL_FULL_RES); // register: DATA_FORMAT -- value: Set bits 3(full range) and 1 0 on (+/- 16g-range)
i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL_RATE_800); // register: BW_RATE -- value: rate=50hz, bw=20hz
-
-
-#endif
+#endif
+#endif /* FreeFlight */
}
void adxl345Read(int16_t *accelData)
{
- uint8_t buf[6];
+ static uint8_t buf[6];
i2cRead(ADXL345_ADDRESS, ADXL345_DATA_OUT, 6, buf);
- accelData[0] = buf[1] << 8 | buf[0];
- accelData[1] = buf[3] << 8 | buf[2];
- accelData[2] = buf[5] << 8 | buf[4];
+ accelData[0] = buf[0] + (buf[1] << 8);
+ accelData[1] = buf[2] + (buf[3] << 8);
+ accelData[2] = buf[4] + (buf[5] << 8);
}